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<a href="#pub-types">Public 类型</a> &#124;
<a href="#pub-methods">Public 成员函数</a> &#124;
<a href="#pro-methods">Protected 成员函数</a> &#124;
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<div class="title">pcl::octree::Octree2BufBase&lt; LeafContainerT, BranchContainerT &gt; 模板类 参考</div>  </div>
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<p><b>Octree</b> double buffer class  
 <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#details">更多...</a></p>

<p><code>#include &lt;<a class="el" href="octree2buf__base_8h_source.html">octree2buf_base.h</a>&gt;</code></p>
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类 pcl::octree::Octree2BufBase&lt; LeafContainerT, BranchContainerT &gt; 继承关系图:</div>
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  <img src="classpcl_1_1octree_1_1_octree2_buf_base.png" usemap="#pcl::octree::Octree2BufBase_3C_20LeafContainerT_2C_20BranchContainerT_20_3E_map" alt=""/>
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<area href="classpcl_1_1octree_1_1_octree_point_cloud.html" alt="pcl::octree::OctreePointCloud&lt; PointT, OctreeContainerPointIndices, OctreeContainerEmpty, Octree2BufBase&lt; OctreeContainerPointIndices, OctreeContainerEmpty &gt; &gt;" shape="rect" coords="489,56,1458,80"/>
<area href="classpcl_1_1io_1_1_octree_point_cloud_compression.html" title="Octree pointcloud compression class" alt="pcl::io::OctreePointCloudCompression&lt; PointT, LeafT, BranchT, OctreeT &gt;" shape="rect" coords="0,112,969,136"/>
<area href="classpcl_1_1octree_1_1_octree_point_cloud_change_detector.html" title="Octree pointcloud change detector class" alt="pcl::octree::OctreePointCloudChangeDetector&lt; PointT, LeafContainerT, BranchContainerT &gt;" shape="rect" coords="979,112,1948,136"/>
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<table class="memberdecls">
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Public 类型</h2></td></tr>
<tr class="memitem:a3a096991cc440dadbf88dc190daaa63d"><td class="memItemLeft" align="right" valign="top"><a id="a3a096991cc440dadbf88dc190daaa63d"></a>
typedef <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeT</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BufferedBranchNode</a>&lt; BranchContainerT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BranchNode</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">OctreeLeafNode</a>&lt; LeafContainerT &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>LeafNode</b></td></tr>
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typedef BranchContainerT&#160;</td><td class="memItemRight" valign="bottom"><b>BranchContainer</b></td></tr>
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typedef LeafContainerT&#160;</td><td class="memItemRight" valign="bottom"><b>LeafContainer</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>Iterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstIterator</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>LeafNodeIterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">OctreeLeafNodeIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstLeafNodeIterator</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>DepthFirstIterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">OctreeDepthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstDepthFirstIterator</b></td></tr>
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typedef <a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>BreadthFirstIterator</b></td></tr>
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typedef const <a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">OctreeBreadthFirstIterator</a>&lt; <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">OctreeT</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>ConstBreadthFirstIterator</b></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public 成员函数</h2></td></tr>
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<a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">Iterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>begin</b> (unsigned int max_depth_arg=0)</td></tr>
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const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">Iterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>end</b> ()</td></tr>
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<a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">LeafNodeIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>leaf_begin</b> (unsigned int max_depth_arg=0)</td></tr>
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const <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node_iterator.html">LeafNodeIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>leaf_end</b> ()</td></tr>
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<a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">DepthFirstIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>depth_begin</b> (unsigned int maxDepth_arg=0)</td></tr>
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const <a class="el" href="classpcl_1_1octree_1_1_octree_depth_first_iterator.html">DepthFirstIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>depth_end</b> ()</td></tr>
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<a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">BreadthFirstIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>breadth_begin</b> (unsigned int max_depth_arg=0)</td></tr>
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const <a class="el" href="classpcl_1_1octree_1_1_octree_breadth_first_iterator.html">BreadthFirstIterator</a>&#160;</td><td class="memItemRight" valign="bottom"><b>breadth_end</b> ()</td></tr>
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<tr class="memitem:aeea7ecfd6ebe82e93d3c7bb869355502"><td class="memItemLeft" align="right" valign="top"><a id="aeea7ecfd6ebe82e93d3c7bb869355502"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#aeea7ecfd6ebe82e93d3c7bb869355502">Octree2BufBase</a> ()</td></tr>
<tr class="memdesc:aeea7ecfd6ebe82e93d3c7bb869355502"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty constructor. <br /></td></tr>
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<tr class="memitem:af38bf67eaa51c8bdfc3aafef8427bb43"><td class="memItemLeft" align="right" valign="top"><a id="af38bf67eaa51c8bdfc3aafef8427bb43"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#af38bf67eaa51c8bdfc3aafef8427bb43">~Octree2BufBase</a> ()</td></tr>
<tr class="memdesc:af38bf67eaa51c8bdfc3aafef8427bb43"><td class="mdescLeft">&#160;</td><td class="mdescRight">Empty deconstructor. <br /></td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a194a8c94974474dfc822504a09deaae2">Octree2BufBase</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">Octree2BufBase</a> &amp;source)</td></tr>
<tr class="memdesc:a194a8c94974474dfc822504a09deaae2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">Octree2BufBase</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#af10777e6e93a13850a3c2dae28db432b">operator=</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">Octree2BufBase</a> &amp;source)</td></tr>
<tr class="memdesc:af10777e6e93a13850a3c2dae28db432b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Copy constructor. <br /></td></tr>
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<tr class="memitem:a70b703457f743d2cac00e30663c27bb1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a70b703457f743d2cac00e30663c27bb1">setMaxVoxelIndex</a> (unsigned int max_voxel_index_arg)</td></tr>
<tr class="memdesc:a70b703457f743d2cac00e30663c27bb1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum amount of voxels per dimension.  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a70b703457f743d2cac00e30663c27bb1">更多...</a><br /></td></tr>
<tr class="separator:a70b703457f743d2cac00e30663c27bb1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aaca1aaba9d9413ecf37f66616ebf5ca2"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#aaca1aaba9d9413ecf37f66616ebf5ca2">setTreeDepth</a> (unsigned int depth_arg)</td></tr>
<tr class="memdesc:aaca1aaba9d9413ecf37f66616ebf5ca2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Set the maximum depth of the octree.  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#aaca1aaba9d9413ecf37f66616ebf5ca2">更多...</a><br /></td></tr>
<tr class="separator:aaca1aaba9d9413ecf37f66616ebf5ca2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a33a76633142a350aec3abf4d855265f7"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a33a76633142a350aec3abf4d855265f7">getTreeDepth</a> () const</td></tr>
<tr class="memdesc:a33a76633142a350aec3abf4d855265f7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the maximum depth of the octree.  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a33a76633142a350aec3abf4d855265f7">更多...</a><br /></td></tr>
<tr class="separator:a33a76633142a350aec3abf4d855265f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2b59144bb291c178879513c2c5f5283c"><td class="memItemLeft" align="right" valign="top">LeafContainerT *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2b59144bb291c178879513c2c5f5283c">createLeaf</a> (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</td></tr>
<tr class="memdesc:a2b59144bb291c178879513c2c5f5283c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2b59144bb291c178879513c2c5f5283c">更多...</a><br /></td></tr>
<tr class="separator:a2b59144bb291c178879513c2c5f5283c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3e5834225c6ed85452fbad295497ffa5"><td class="memItemLeft" align="right" valign="top">LeafContainerT *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3e5834225c6ed85452fbad295497ffa5">findLeaf</a> (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</td></tr>
<tr class="memdesc:a3e5834225c6ed85452fbad295497ffa5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3e5834225c6ed85452fbad295497ffa5">更多...</a><br /></td></tr>
<tr class="separator:a3e5834225c6ed85452fbad295497ffa5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4bdd0fdf775f73746e15f15463051c07"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4bdd0fdf775f73746e15f15463051c07">existLeaf</a> (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const</td></tr>
<tr class="memdesc:a4bdd0fdf775f73746e15f15463051c07"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4bdd0fdf775f73746e15f15463051c07">更多...</a><br /></td></tr>
<tr class="separator:a4bdd0fdf775f73746e15f15463051c07"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad52ba45870a26d8dd428e1f619d5ef0a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ad52ba45870a26d8dd428e1f619d5ef0a">removeLeaf</a> (unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</td></tr>
<tr class="memdesc:ad52ba45870a26d8dd428e1f619d5ef0a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#ad52ba45870a26d8dd428e1f619d5ef0a">更多...</a><br /></td></tr>
<tr class="separator:ad52ba45870a26d8dd428e1f619d5ef0a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a30097068e7d729677aa4e84fdf46261e"><td class="memItemLeft" align="right" valign="top">std::size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a30097068e7d729677aa4e84fdf46261e">getLeafCount</a> () const</td></tr>
<tr class="memdesc:a30097068e7d729677aa4e84fdf46261e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the amount of existing leafs in the octree.  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a30097068e7d729677aa4e84fdf46261e">更多...</a><br /></td></tr>
<tr class="separator:a30097068e7d729677aa4e84fdf46261e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aca11d3801c77ccb9cd55e5569f5a5455"><td class="memItemLeft" align="right" valign="top">std::size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#aca11d3801c77ccb9cd55e5569f5a5455">getBranchCount</a> () const</td></tr>
<tr class="memdesc:aca11d3801c77ccb9cd55e5569f5a5455"><td class="mdescLeft">&#160;</td><td class="mdescRight">Return the amount of existing branches in the octree.  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#aca11d3801c77ccb9cd55e5569f5a5455">更多...</a><br /></td></tr>
<tr class="separator:aca11d3801c77ccb9cd55e5569f5a5455"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a55fc9b096111612ae15ad340fa27bd6c"><td class="memItemLeft" align="right" valign="top"><a id="a55fc9b096111612ae15ad340fa27bd6c"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a55fc9b096111612ae15ad340fa27bd6c">deleteTree</a> ()</td></tr>
<tr class="memdesc:a55fc9b096111612ae15ad340fa27bd6c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete the octree structure and its leaf nodes. <br /></td></tr>
<tr class="separator:a55fc9b096111612ae15ad340fa27bd6c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a751cd72b2cae587ca98acae959d25dfa"><td class="memItemLeft" align="right" valign="top"><a id="a751cd72b2cae587ca98acae959d25dfa"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a751cd72b2cae587ca98acae959d25dfa">deletePreviousBuffer</a> ()</td></tr>
<tr class="memdesc:a751cd72b2cae587ca98acae959d25dfa"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete octree structure of previous buffer. <br /></td></tr>
<tr class="separator:a751cd72b2cae587ca98acae959d25dfa"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a65d3b99e662a2aa09bca313c01f8fee3"><td class="memItemLeft" align="right" valign="top"><a id="a65d3b99e662a2aa09bca313c01f8fee3"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a65d3b99e662a2aa09bca313c01f8fee3">deleteCurrentBuffer</a> ()</td></tr>
<tr class="memdesc:a65d3b99e662a2aa09bca313c01f8fee3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete the octree structure in the current buffer. <br /></td></tr>
<tr class="separator:a65d3b99e662a2aa09bca313c01f8fee3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2574de24826df36a1071efdf41843e55"><td class="memItemLeft" align="right" valign="top"><a id="a2574de24826df36a1071efdf41843e55"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2574de24826df36a1071efdf41843e55">switchBuffers</a> ()</td></tr>
<tr class="memdesc:a2574de24826df36a1071efdf41843e55"><td class="mdescLeft">&#160;</td><td class="mdescRight">Switch buffers and reset current octree structure. <br /></td></tr>
<tr class="separator:a2574de24826df36a1071efdf41843e55"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4ab50312544738fbcb2dcec19be7d1c0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4ab50312544738fbcb2dcec19be7d1c0">serializeTree</a> (std::vector&lt; char &gt; &amp;binary_tree_out_arg, bool do_XOR_encoding_arg=false)</td></tr>
<tr class="memdesc:a4ab50312544738fbcb2dcec19be7d1c0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Serialize octree into a binary output vector describing its branch node structure.  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4ab50312544738fbcb2dcec19be7d1c0">更多...</a><br /></td></tr>
<tr class="separator:a4ab50312544738fbcb2dcec19be7d1c0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1888556d69a9ec1bf8ac50f722c62be1"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a1888556d69a9ec1bf8ac50f722c62be1">serializeTree</a> (std::vector&lt; char &gt; &amp;binary_tree_out_arg, std::vector&lt; LeafContainerT * &gt; &amp;leaf_container_vector_arg, bool do_XOR_encoding_arg=false)</td></tr>
<tr class="memdesc:a1888556d69a9ec1bf8ac50f722c62be1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Serialize octree into a binary output vector describing its branch node structure and and push all DataT elements stored in the octree to a vector.  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a1888556d69a9ec1bf8ac50f722c62be1">更多...</a><br /></td></tr>
<tr class="separator:a1888556d69a9ec1bf8ac50f722c62be1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a167942a5a0601a8cc1c15fcf26232acf"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a167942a5a0601a8cc1c15fcf26232acf">serializeLeafs</a> (std::vector&lt; LeafContainerT * &gt; &amp;leaf_container_vector_arg)</td></tr>
<tr class="memdesc:a167942a5a0601a8cc1c15fcf26232acf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outputs a vector of all DataT elements that are stored within the octree leaf nodes.  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a167942a5a0601a8cc1c15fcf26232acf">更多...</a><br /></td></tr>
<tr class="separator:a167942a5a0601a8cc1c15fcf26232acf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acb0d130018cef2b721638ff2d6d49f5f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#acb0d130018cef2b721638ff2d6d49f5f">serializeNewLeafs</a> (std::vector&lt; LeafContainerT * &gt; &amp;leaf_container_vector_arg)</td></tr>
<tr class="memdesc:acb0d130018cef2b721638ff2d6d49f5f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buffer.  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#acb0d130018cef2b721638ff2d6d49f5f">更多...</a><br /></td></tr>
<tr class="separator:acb0d130018cef2b721638ff2d6d49f5f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72c3d318307f1bbffc131076f45733a6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a72c3d318307f1bbffc131076f45733a6">deserializeTree</a> (std::vector&lt; char &gt; &amp;binary_tree_in_arg, bool do_XOR_decoding_arg=false)</td></tr>
<tr class="memdesc:a72c3d318307f1bbffc131076f45733a6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deserialize a binary octree description vector and create a corresponding octree structure. Leaf nodes are initialized with getDataTByKey(..).  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a72c3d318307f1bbffc131076f45733a6">更多...</a><br /></td></tr>
<tr class="separator:a72c3d318307f1bbffc131076f45733a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9f19cf482b97afa875ef521d51b41e4a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a9f19cf482b97afa875ef521d51b41e4a">deserializeTree</a> (std::vector&lt; char &gt; &amp;binary_tree_in_arg, std::vector&lt; LeafContainerT * &gt; &amp;leaf_container_vector_arg, bool do_XOR_decoding_arg=false)</td></tr>
<tr class="memdesc:a9f19cf482b97afa875ef521d51b41e4a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Deserialize a binary octree description and create a corresponding octree structure. Leaf nodes are initialized with DataT elements from the dataVector.  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a9f19cf482b97afa875ef521d51b41e4a">更多...</a><br /></td></tr>
<tr class="separator:a9f19cf482b97afa875ef521d51b41e4a"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected 成员函数</h2></td></tr>
<tr class="memitem:a0b18cc9970d967a82b366884f5cadaf3"><td class="memItemLeft" align="right" valign="top"><a id="a0b18cc9970d967a82b366884f5cadaf3"></a>
<a class="el" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a0b18cc9970d967a82b366884f5cadaf3">getRootNode</a> () const</td></tr>
<tr class="memdesc:a0b18cc9970d967a82b366884f5cadaf3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieve root node <br /></td></tr>
<tr class="separator:a0b18cc9970d967a82b366884f5cadaf3"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a15bcc57e4a3ac9173d494302b5e4846f"><td class="memItemLeft" align="right" valign="top">LeafContainerT *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a15bcc57e4a3ac9173d494302b5e4846f">findLeaf</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg) const</td></tr>
<tr class="memdesc:a15bcc57e4a3ac9173d494302b5e4846f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find leaf node  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a15bcc57e4a3ac9173d494302b5e4846f">更多...</a><br /></td></tr>
<tr class="separator:a15bcc57e4a3ac9173d494302b5e4846f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab4966e60c74d0cc45b7848d6343b87a0"><td class="memItemLeft" align="right" valign="top">LeafContainerT *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ab4966e60c74d0cc45b7848d6343b87a0">createLeaf</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg)</td></tr>
<tr class="memdesc:ab4966e60c74d0cc45b7848d6343b87a0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a leaf node.  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#ab4966e60c74d0cc45b7848d6343b87a0">更多...</a><br /></td></tr>
<tr class="separator:ab4966e60c74d0cc45b7848d6343b87a0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aba494be8477c3787990b7ecffcd820e2"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#aba494be8477c3787990b7ecffcd820e2">existLeaf</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg) const</td></tr>
<tr class="memdesc:aba494be8477c3787990b7ecffcd820e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check for leaf not existance in the octree  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#aba494be8477c3787990b7ecffcd820e2">更多...</a><br /></td></tr>
<tr class="separator:aba494be8477c3787990b7ecffcd820e2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a56dcfee60b85003d20b367c7b0ab17e0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a56dcfee60b85003d20b367c7b0ab17e0">removeLeaf</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg)</td></tr>
<tr class="memdesc:a56dcfee60b85003d20b367c7b0ab17e0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Remove leaf node from octree  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a56dcfee60b85003d20b367c7b0ab17e0">更多...</a><br /></td></tr>
<tr class="separator:a56dcfee60b85003d20b367c7b0ab17e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6f44fc78531827bd1e4eacb644c64fdb"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6f44fc78531827bd1e4eacb644c64fdb">branchHasChild</a> (const <a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg) const</td></tr>
<tr class="memdesc:a6f44fc78531827bd1e4eacb644c64fdb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Check if branch is pointing to a particular child node  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6f44fc78531827bd1e4eacb644c64fdb">更多...</a><br /></td></tr>
<tr class="separator:a6f44fc78531827bd1e4eacb644c64fdb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa9b75e568e00984deca987571a445d3b"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#aa9b75e568e00984deca987571a445d3b">getBranchChildPtr</a> (const <a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg) const</td></tr>
<tr class="memdesc:aa9b75e568e00984deca987571a445d3b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Retrieve a child node pointer for child node at child_idx.  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#aa9b75e568e00984deca987571a445d3b">更多...</a><br /></td></tr>
<tr class="separator:aa9b75e568e00984deca987571a445d3b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8b93eff3d55ff668772dbeee7f273351"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a8b93eff3d55ff668772dbeee7f273351">setBranchChildPtr</a> (<a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *new_child_arg)</td></tr>
<tr class="memdesc:a8b93eff3d55ff668772dbeee7f273351"><td class="mdescLeft">&#160;</td><td class="mdescRight">Assign new child node to branch  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a8b93eff3d55ff668772dbeee7f273351">更多...</a><br /></td></tr>
<tr class="separator:a8b93eff3d55ff668772dbeee7f273351"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a192cf5ae63df971b4c0c8059db79053f"><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a192cf5ae63df971b4c0c8059db79053f">getBranchBitPattern</a> (const <a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;branch_arg) const</td></tr>
<tr class="memdesc:a192cf5ae63df971b4c0c8059db79053f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate bit pattern reflecting the existence of child node pointers for current buffer  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a192cf5ae63df971b4c0c8059db79053f">更多...</a><br /></td></tr>
<tr class="separator:a192cf5ae63df971b4c0c8059db79053f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4d808f57dcd79f80d4d996c4d9c0156e"><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4d808f57dcd79f80d4d996c4d9c0156e">getBranchBitPattern</a> (const <a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char bufferSelector_arg) const</td></tr>
<tr class="memdesc:a4d808f57dcd79f80d4d996c4d9c0156e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate bit pattern reflecting the existence of child node pointers in specific buffer  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4d808f57dcd79f80d4d996c4d9c0156e">更多...</a><br /></td></tr>
<tr class="separator:a4d808f57dcd79f80d4d996c4d9c0156e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6929660951a1e75301f128ec387b3534"><td class="memItemLeft" align="right" valign="top">char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6929660951a1e75301f128ec387b3534">getBranchXORBitPattern</a> (const <a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;branch_arg) const</td></tr>
<tr class="memdesc:a6929660951a1e75301f128ec387b3534"><td class="mdescLeft">&#160;</td><td class="mdescRight">Generate XOR bit pattern reflecting differences between the two octree buffers  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6929660951a1e75301f128ec387b3534">更多...</a><br /></td></tr>
<tr class="separator:a6929660951a1e75301f128ec387b3534"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0a2fca8c9c60278a6ff01921ab17406a"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a0a2fca8c9c60278a6ff01921ab17406a">hasBranchChanges</a> (const <a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;branch_arg) const</td></tr>
<tr class="memdesc:a0a2fca8c9c60278a6ff01921ab17406a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Test if branch changed between previous and current buffer  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a0a2fca8c9c60278a6ff01921ab17406a">更多...</a><br /></td></tr>
<tr class="separator:a0a2fca8c9c60278a6ff01921ab17406a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a75e6f417bc4e56b3741e03b83e431125"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a75e6f417bc4e56b3741e03b83e431125">deleteBranchChild</a> (<a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char buffer_selector_arg, unsigned char child_idx_arg)</td></tr>
<tr class="memdesc:a75e6f417bc4e56b3741e03b83e431125"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete child node and all its subchilds from octree in specific buffer  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a75e6f417bc4e56b3741e03b83e431125">更多...</a><br /></td></tr>
<tr class="separator:a75e6f417bc4e56b3741e03b83e431125"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6857dab0aa03c5052a0b1c83c5c3b377"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6857dab0aa03c5052a0b1c83c5c3b377">deleteBranchChild</a> (<a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg)</td></tr>
<tr class="memdesc:a6857dab0aa03c5052a0b1c83c5c3b377"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete child node and all its subchilds from octree in current buffer  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6857dab0aa03c5052a0b1c83c5c3b377">更多...</a><br /></td></tr>
<tr class="separator:a6857dab0aa03c5052a0b1c83c5c3b377"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a05eb0796c239e4998545ac182f804937"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a05eb0796c239e4998545ac182f804937">deleteBranch</a> (<a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;branch_arg)</td></tr>
<tr class="memdesc:a05eb0796c239e4998545ac182f804937"><td class="mdescLeft">&#160;</td><td class="mdescRight">Delete branch and all its subchilds from octree (both buffers)  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a05eb0796c239e4998545ac182f804937">更多...</a><br /></td></tr>
<tr class="separator:a05eb0796c239e4998545ac182f804937"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a32ee92b40c29b9584fee04782efb1c15"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a32ee92b40c29b9584fee04782efb1c15">createBranchChild</a> (<a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg)</td></tr>
<tr class="memdesc:a32ee92b40c29b9584fee04782efb1c15"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fetch and add a new branch child to a branch class in current buffer  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a32ee92b40c29b9584fee04782efb1c15">更多...</a><br /></td></tr>
<tr class="separator:a32ee92b40c29b9584fee04782efb1c15"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0193ddc25ef5e3858b2b8fa002e51a86"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a0193ddc25ef5e3858b2b8fa002e51a86">createLeafChild</a> (<a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;branch_arg, unsigned char child_idx_arg)</td></tr>
<tr class="memdesc:a0193ddc25ef5e3858b2b8fa002e51a86"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fetch and add a new leaf child to a branch class  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a0193ddc25ef5e3858b2b8fa002e51a86">更多...</a><br /></td></tr>
<tr class="separator:a0193ddc25ef5e3858b2b8fa002e51a86"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa8d912802822ab405316bdfb7b9bf05d"><td class="memItemLeft" align="right" valign="top">unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#aa8d912802822ab405316bdfb7b9bf05d">createLeafRecursive</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, unsigned int depth_mask_arg, <a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> *branch_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a> *&amp;return_leaf_arg, <a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> *&amp;parent_of_leaf_arg, bool branch_reset_arg=false)</td></tr>
<tr class="memdesc:aa8d912802822ab405316bdfb7b9bf05d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Create a leaf node at octree key. If leaf node does already exist, it is returned.  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#aa8d912802822ab405316bdfb7b9bf05d">更多...</a><br /></td></tr>
<tr class="separator:aa8d912802822ab405316bdfb7b9bf05d"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae4ce238fbace7c54d8df99ca3f679f35"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ae4ce238fbace7c54d8df99ca3f679f35">findLeafRecursive</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, unsigned int depth_mask_arg, <a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> *branch_arg, LeafContainerT *&amp;result_arg) const</td></tr>
<tr class="memdesc:ae4ce238fbace7c54d8df99ca3f679f35"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursively search for a given leaf node and return a pointer.  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#ae4ce238fbace7c54d8df99ca3f679f35">更多...</a><br /></td></tr>
<tr class="separator:ae4ce238fbace7c54d8df99ca3f679f35"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af0607f6e0f4619808849777eb6586c6e"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#af0607f6e0f4619808849777eb6586c6e">deleteLeafRecursive</a> (const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, unsigned int depth_mask_arg, <a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> *branch_arg)</td></tr>
<tr class="memdesc:af0607f6e0f4619808849777eb6586c6e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursively search and delete leaf node  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#af0607f6e0f4619808849777eb6586c6e">更多...</a><br /></td></tr>
<tr class="separator:af0607f6e0f4619808849777eb6586c6e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6cf255789af15b3766c7e5f327bcbb43"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6cf255789af15b3766c7e5f327bcbb43">serializeTreeRecursive</a> (<a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> *branch_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, std::vector&lt; char &gt; *binary_tree_out_arg, typename std::vector&lt; LeafContainerT * &gt; *leaf_container_vector_arg, bool do_XOR_encoding_arg=false, bool new_leafs_filter_arg=false)</td></tr>
<tr class="memdesc:a6cf255789af15b3766c7e5f327bcbb43"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursively explore the octree and output binary octree description together with a vector of leaf node DataT content.  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6cf255789af15b3766c7e5f327bcbb43">更多...</a><br /></td></tr>
<tr class="separator:a6cf255789af15b3766c7e5f327bcbb43"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab8e6e1bf5b3a7362b8588742f204ffda"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ab8e6e1bf5b3a7362b8588742f204ffda">deserializeTreeRecursive</a> (<a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> *branch_arg, unsigned int depth_mask_arg, <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;key_arg, typename std::vector&lt; char &gt;::const_iterator &amp;binary_tree_in_it_arg, typename std::vector&lt; char &gt;::const_iterator &amp;binary_tree_in_it_end_arg, typename std::vector&lt; LeafContainerT * &gt;::const_iterator *leaf_container_vector_it_arg, typename std::vector&lt; LeafContainerT * &gt;::const_iterator *leaf_container_vector_it_end_arg, bool branch_reset_arg=false, bool do_XOR_decoding_arg=false)</td></tr>
<tr class="memdesc:ab8e6e1bf5b3a7362b8588742f204ffda"><td class="mdescLeft">&#160;</td><td class="mdescRight">Rebuild an octree based on binary XOR octree description and DataT objects for leaf node initialization.  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#ab8e6e1bf5b3a7362b8588742f204ffda">更多...</a><br /></td></tr>
<tr class="separator:ab8e6e1bf5b3a7362b8588742f204ffda"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acf3bb65952c8c4e11bb51bbf05d0aab7"><td class="memItemLeft" align="right" valign="top"><a id="acf3bb65952c8c4e11bb51bbf05d0aab7"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#acf3bb65952c8c4e11bb51bbf05d0aab7">serializeTreeCallback</a> (LeafContainerT &amp;, const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;)</td></tr>
<tr class="memdesc:acf3bb65952c8c4e11bb51bbf05d0aab7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback executed for every leaf node data during serialization <br /></td></tr>
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<tr class="memitem:a6b8a10625ed223f3fc280648198359dd"><td class="memItemLeft" align="right" valign="top"><a id="a6b8a10625ed223f3fc280648198359dd"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6b8a10625ed223f3fc280648198359dd">deserializeTreeCallback</a> (LeafContainerT &amp;, const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;)</td></tr>
<tr class="memdesc:a6b8a10625ed223f3fc280648198359dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Callback executed for every leaf node data during deserialization <br /></td></tr>
<tr class="separator:a6b8a10625ed223f3fc280648198359dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4b13e62a99ccbae80249f3202bdcf19e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4b13e62a99ccbae80249f3202bdcf19e">treeCleanUpRecursive</a> (<a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> *branch_arg)</td></tr>
<tr class="memdesc:a4b13e62a99ccbae80249f3202bdcf19e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Recursively explore the octree and remove unused branch and leaf nodes  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4b13e62a99ccbae80249f3202bdcf19e">更多...</a><br /></td></tr>
<tr class="separator:a4b13e62a99ccbae80249f3202bdcf19e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0ad52b712883298d7cb687692c8eb4ac"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a0ad52b712883298d7cb687692c8eb4ac">Log2</a> (double n_arg)</td></tr>
<tr class="memdesc:a0ad52b712883298d7cb687692c8eb4ac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Helper function to calculate the binary logarithm  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a0ad52b712883298d7cb687692c8eb4ac">更多...</a><br /></td></tr>
<tr class="separator:a0ad52b712883298d7cb687692c8eb4ac"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a543591992f19e283f1429e14b59515b5"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a543591992f19e283f1429e14b59515b5">octreeCanResize</a> ()</td></tr>
<tr class="memdesc:a543591992f19e283f1429e14b59515b5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Test if octree is able to dynamically change its depth. This is required for adaptive bounding box adjustment.  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a543591992f19e283f1429e14b59515b5">更多...</a><br /></td></tr>
<tr class="separator:a543591992f19e283f1429e14b59515b5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a86bfa6dbf345c17a65920406ca23d456"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a86bfa6dbf345c17a65920406ca23d456">printBinary</a> (char data_arg)</td></tr>
<tr class="memdesc:a86bfa6dbf345c17a65920406ca23d456"><td class="mdescLeft">&#160;</td><td class="mdescRight">Prints binary representation of a byte - used for debugging  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a86bfa6dbf345c17a65920406ca23d456">更多...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected 属性</h2></td></tr>
<tr class="memitem:a3fea604145f48ddf459379e78666d194"><td class="memItemLeft" align="right" valign="top"><a id="a3fea604145f48ddf459379e78666d194"></a>
std::size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3fea604145f48ddf459379e78666d194">leaf_count_</a></td></tr>
<tr class="memdesc:a3fea604145f48ddf459379e78666d194"><td class="mdescLeft">&#160;</td><td class="mdescRight">Amount of leaf nodes <br  />
 <br /></td></tr>
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<tr class="memitem:a916dc0e91da6e69cea660dc6888659a9"><td class="memItemLeft" align="right" valign="top"><a id="a916dc0e91da6e69cea660dc6888659a9"></a>
std::size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a916dc0e91da6e69cea660dc6888659a9">branch_count_</a></td></tr>
<tr class="memdesc:a916dc0e91da6e69cea660dc6888659a9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Amount of branch nodes <br  />
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<tr class="memitem:a7ced5d5b658d5c86f3507a35aef47177"><td class="memItemLeft" align="right" valign="top"><a id="a7ced5d5b658d5c86f3507a35aef47177"></a>
<a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a7ced5d5b658d5c86f3507a35aef47177">root_node_</a></td></tr>
<tr class="memdesc:a7ced5d5b658d5c86f3507a35aef47177"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pointer to root branch node of octree <br  />
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<tr class="memitem:a2cbfd23291f419d2bcdea61af33f4f5d"><td class="memItemLeft" align="right" valign="top"><a id="a2cbfd23291f419d2bcdea61af33f4f5d"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2cbfd23291f419d2bcdea61af33f4f5d">depth_mask_</a></td></tr>
<tr class="memdesc:a2cbfd23291f419d2bcdea61af33f4f5d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Depth mask based on octree depth <br  />
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<a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a1cdf089fb6ce268a539915026baa10c0">max_key_</a></td></tr>
<tr class="memdesc:a1cdf089fb6ce268a539915026baa10c0"><td class="mdescLeft">&#160;</td><td class="mdescRight">key range <br /></td></tr>
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<tr class="memitem:a5c9cff0f907e60924afedfb4f38a1876"><td class="memItemLeft" align="right" valign="top"><a id="a5c9cff0f907e60924afedfb4f38a1876"></a>
unsigned char&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a></td></tr>
<tr class="memdesc:a5c9cff0f907e60924afedfb4f38a1876"><td class="mdescLeft">&#160;</td><td class="mdescRight">Currently active octree buffer <br  />
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<tr class="memitem:a8954ca75512c091c402dec704c56c8ce"><td class="memItemLeft" align="right" valign="top"><a id="a8954ca75512c091c402dec704c56c8ce"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>tree_dirty_flag_</b></td></tr>
<tr class="separator:a8954ca75512c091c402dec704c56c8ce"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae1c0c62c342048d64505d61940b1a4df"><td class="memItemLeft" align="right" valign="top"><a id="ae1c0c62c342048d64505d61940b1a4df"></a>
unsigned int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ae1c0c62c342048d64505d61940b1a4df">octree_depth_</a></td></tr>
<tr class="memdesc:ae1c0c62c342048d64505d61940b1a4df"><td class="mdescLeft">&#160;</td><td class="mdescRight">Octree depth <br /></td></tr>
<tr class="separator:ae1c0c62c342048d64505d61940b1a4df"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9b5f10ed867f8f662933e6615a698649"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a9b5f10ed867f8f662933e6615a698649">dynamic_depth_enabled_</a></td></tr>
<tr class="memdesc:a9b5f10ed867f8f662933e6615a698649"><td class="mdescLeft">&#160;</td><td class="mdescRight">Enable dynamic_depth  <a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a9b5f10ed867f8f662933e6615a698649">更多...</a><br /></td></tr>
<tr class="separator:a9b5f10ed867f8f662933e6615a698649"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="friends"></a>
友元</h2></td></tr>
<tr class="memitem:afbffbe37e9f198bcca90f04596e3644b"><td class="memItemLeft" align="right" valign="top"><a id="afbffbe37e9f198bcca90f04596e3644b"></a>
class&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeIteratorBase&lt; OctreeT &gt;</b></td></tr>
<tr class="separator:afbffbe37e9f198bcca90f04596e3644b"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a006bd41bf2a4e5477c5c12b1cbc64893"><td class="memItemLeft" align="right" valign="top"><a id="a006bd41bf2a4e5477c5c12b1cbc64893"></a>
class&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeDepthFirstIterator&lt; OctreeT &gt;</b></td></tr>
<tr class="separator:a006bd41bf2a4e5477c5c12b1cbc64893"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a72445f2ef197d672452ba776f9afc8e0"><td class="memItemLeft" align="right" valign="top"><a id="a72445f2ef197d672452ba776f9afc8e0"></a>
class&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeBreadthFirstIterator&lt; OctreeT &gt;</b></td></tr>
<tr class="separator:a72445f2ef197d672452ba776f9afc8e0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a679b511f7d9b329ca60975da3020d33f"><td class="memItemLeft" align="right" valign="top"><a id="a679b511f7d9b329ca60975da3020d33f"></a>
class&#160;</td><td class="memItemRight" valign="bottom"><b>OctreeLeafNodeIterator&lt; OctreeT &gt;</b></td></tr>
<tr class="separator:a679b511f7d9b329ca60975da3020d33f"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">详细描述</h2>
<div class="textblock"><h3>template&lt;typename LeafContainerT = int, typename BranchContainerT = OctreeContainerEmpty&gt;<br />
class pcl::octree::Octree2BufBase&lt; LeafContainerT, BranchContainerT &gt;</h3>

<p><b>Octree</b> double buffer class </p>
<dl class="section note"><dt>注解</dt><dd>This octree implementation keeps two separate octree structures in memory.</dd>
<dd>
This allows for differentially compare the octree structures (change detection, differential encoding). </dd>
<dd>
The tree depth defines the maximum amount of octree voxels / leaf nodes (should be initially defined). </dd>
<dd>
All leaf nodes are addressed by integer indices. </dd>
<dd>
Note: The tree depth equates to the bit length of the voxel indices.</dd></dl>
<dl class="section author"><dt>作者</dt><dd>Julius Kammerl (<a href="#" onclick="location.href='mai'+'lto:'+'jul'+'iu'+'s@k'+'am'+'mer'+'l.'+'de'; return false;">juliu<span style="display: none;">.nosp@m.</span>s@ka<span style="display: none;">.nosp@m.</span>mmerl<span style="display: none;">.nosp@m.</span>.de</a>) </dd></dl>
</div><h2 class="groupheader">成员函数说明</h2>
<a id="a6f44fc78531827bd1e4eacb644c64fdb"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6f44fc78531827bd1e4eacb644c64fdb">&#9670;&nbsp;</a></span>branchHasChild()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
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      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::branchHasChild </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>child_idx_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
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</div><div class="memdoc">

<p>Check if branch is pointing to a particular child node </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
    <tr><td class="paramname">child_idx_arg</td><td>index to child node </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>"true" if pointer to child node exists; "false" otherwise </dd></dl>
<div class="fragment"><div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;        {</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160;          <span class="comment">// test occupancyByte for child existence</span></div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;          <span class="keywordflow">return</span> (branch_arg.getChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx_arg) != 0);</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a5c9cff0f907e60924afedfb4f38a1876"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">pcl::octree::Octree2BufBase::buffer_selector_</a></div><div class="ttdeci">unsigned char buffer_selector_</div><div class="ttdoc">Currently active octree buffer</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:905</div></div>
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</div>
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<a id="a32ee92b40c29b9584fee04782efb1c15"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a32ee92b40c29b9584fee04782efb1c15">&#9670;&nbsp;</a></span>createBranchChild()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
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          <td class="memname"><a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a>* <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::createBranchChild </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>child_idx_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
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<p>Fetch and add a new branch child to a branch class in current buffer </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
    <tr><td class="paramname">child_idx_arg</td><td>index to child node </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointer of new branch child to this reference </dd></dl>
<div class="fragment"><div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;        {</div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160;          BranchNode* new_branch_child = <span class="keyword">new</span> BranchNode();</div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160; </div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;          branch_arg.setChildPtr (<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx_arg,</div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;              <span class="keyword">static_cast&lt;</span>OctreeNode*<span class="keyword">&gt;</span> (new_branch_child));</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160; </div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;          <span class="keywordflow">return</span> new_branch_child;</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;        }</div>
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<a id="ab4966e60c74d0cc45b7848d6343b87a0"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab4966e60c74d0cc45b7848d6343b87a0">&#9670;&nbsp;</a></span>createLeaf() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
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  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">LeafContainerT* <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::createLeaf </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
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<p>Create a leaf node. </p>
<dl class="section note"><dt>注解</dt><dd>If the leaf node at the given octree node does not exist, it will be created and added to the tree. </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">key_arg</td><td>octree key addressing a leaf node. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointer to an existing or created leaf container. </dd></dl>
<div class="fragment"><div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;        {</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;          LeafNode* leaf_node;</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;          BranchNode* leaf_node_parent;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160; </div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#aa8d912802822ab405316bdfb7b9bf05d">createLeafRecursive</a> (key_arg, <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2cbfd23291f419d2bcdea61af33f4f5d">depth_mask_</a> ,<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a7ced5d5b658d5c86f3507a35aef47177">root_node_</a>, leaf_node, leaf_node_parent, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160; </div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;          LeafContainerT* ret = leaf_node-&gt;getContainerPtr();</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160; </div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;          <span class="keywordflow">return</span> ret;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a2cbfd23291f419d2bcdea61af33f4f5d"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2cbfd23291f419d2bcdea61af33f4f5d">pcl::octree::Octree2BufBase::depth_mask_</a></div><div class="ttdeci">unsigned int depth_mask_</div><div class="ttdoc">Depth mask based on octree depth</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:899</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a7ced5d5b658d5c86f3507a35aef47177"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a7ced5d5b658d5c86f3507a35aef47177">pcl::octree::Octree2BufBase::root_node_</a></div><div class="ttdeci">BranchNode * root_node_</div><div class="ttdoc">Pointer to root branch node of octree</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:896</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_aa8d912802822ab405316bdfb7b9bf05d"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#aa8d912802822ab405316bdfb7b9bf05d">pcl::octree::Octree2BufBase::createLeafRecursive</a></div><div class="ttdeci">unsigned int createLeafRecursive(const OctreeKey &amp;key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafNode *&amp;return_leaf_arg, BranchNode *&amp;parent_of_leaf_arg, bool branch_reset_arg=false)</div><div class="ttdoc">Create a leaf node at octree key. If leaf node does already exist, it is returned.</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:323</div></div>
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</div>
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<a id="a2b59144bb291c178879513c2c5f5283c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2b59144bb291c178879513c2c5f5283c">&#9670;&nbsp;</a></span>createLeaf() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">LeafContainerT * <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::createLeaf </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_x_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_y_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_z_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). </p>
<dl class="section note"><dt>注解</dt><dd>If leaf node already exist, this method returns the existing node </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">idx_x_arg</td><td>index of leaf node in the X axis. </td></tr>
    <tr><td class="paramname">idx_y_arg</td><td>index of leaf node in the Y axis. </td></tr>
    <tr><td class="paramname">idx_z_arg</td><td>index of leaf node in the Z axis. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointer to new leaf node container. </dd></dl>
<div class="fragment"><div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;     {</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;       <span class="comment">// generate key</span></div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;       OctreeKey key (idx_x_arg, idx_y_arg, idx_z_arg);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160; </div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;       <span class="comment">// check if key exist in octree</span></div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;       <span class="keywordflow">return</span> ( <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2b59144bb291c178879513c2c5f5283c">createLeaf</a> (key));</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;     }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a2b59144bb291c178879513c2c5f5283c"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2b59144bb291c178879513c2c5f5283c">pcl::octree::Octree2BufBase::createLeaf</a></div><div class="ttdeci">LeafContainerT * createLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</div><div class="ttdoc">Create new leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:116</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a0193ddc25ef5e3858b2b8fa002e51a86"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0193ddc25ef5e3858b2b8fa002e51a86">&#9670;&nbsp;</a></span>createLeafChild()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a>* <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::createLeafChild </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>child_idx_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Fetch and add a new leaf child to a branch class </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
    <tr><td class="paramname">child_idx_arg</td><td>index to child node </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointer of new leaf child to this reference </dd></dl>
<div class="fragment"><div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;        {</div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;          LeafNode* new_leaf_child = <span class="keyword">new</span> LeafNode();</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160; </div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;          branch_arg.setChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx_arg, new_leaf_child);</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160; </div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;          <span class="keywordflow">return</span> new_leaf_child;</div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;        }</div>
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</div>
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<a id="aa8d912802822ab405316bdfb7b9bf05d"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa8d912802822ab405316bdfb7b9bf05d">&#9670;&nbsp;</a></span>createLeafRecursive()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">unsigned int <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::createLeafRecursive </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>depth_mask_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> *&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_leaf_node.html">LeafNode</a> *&amp;&#160;</td>
          <td class="paramname"><em>return_leaf_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> *&amp;&#160;</td>
          <td class="paramname"><em>parent_of_leaf_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>branch_reset_arg</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Create a leaf node at octree key. If leaf node does already exist, it is returned. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">key_arg</td><td>reference to an octree key </td></tr>
    <tr><td class="paramname">depth_mask_arg</td><td>depth mask used for octree key analysis and for branch depth indicator </td></tr>
    <tr><td class="paramname">branch_arg</td><td>current branch node </td></tr>
    <tr><td class="paramname">return_leaf_arg</td><td>return pointer to leaf container </td></tr>
    <tr><td class="paramname">parent_of_leaf_arg</td><td>return pointer to parent of leaf node </td></tr>
    <tr><td class="paramname">branch_reset_arg</td><td>Reset pointer array of current branch </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>depth mask at which leaf node was created/found </dd></dl>
<div class="fragment"><div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;      {</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;        <span class="comment">// index to branch child</span></div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160; </div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;      <span class="comment">// branch reset -&gt; this branch has been taken from previous buffer</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;      <span class="keywordflow">if</span> (branch_reset_arg)</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;      {</div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;        <span class="comment">// we can safely remove children references</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;        <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;        {</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;          branch_arg-&gt;setChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx, 0);</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;        }</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;      }</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      <span class="comment">// find branch child from key</span></div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      child_idx = key_arg.getChildIdxWithDepthMask (depth_mask_arg);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160; </div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      <span class="keywordflow">if</span> (depth_mask_arg &gt; 1)</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      {</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        <span class="comment">// we have not reached maximum tree depth</span></div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;        BranchNode* child_branch;</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;        <span class="keywordtype">bool</span> doNodeReset;</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160; </div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;        doNodeReset = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;        <span class="comment">// if required branch does not exist</span></div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;        <span class="keywordflow">if</span> (!branch_arg-&gt;hasChild(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx))</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;        {</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;          <span class="comment">// check if we find a branch node reference in previous buffer</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160; </div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;          <span class="keywordflow">if</span> (branch_arg-&gt;hasChild(!<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx))</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;          {</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;            OctreeNode* child_node = branch_arg-&gt;getChildPtr(!<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>,child_idx);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160; </div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;            <span class="keywordflow">if</span> (child_node-&gt;getNodeType()==BRANCH_NODE) {</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;              child_branch = <span class="keyword">static_cast&lt;</span>BranchNode*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;              branch_arg-&gt;setChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx, child_node);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;            } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;              <span class="comment">// depth has changed.. child in preceeding buffer is a leaf node.</span></div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a75e6f417bc4e56b3741e03b83e431125">deleteBranchChild</a> (*branch_arg, !<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx);</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;              child_branch = <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a32ee92b40c29b9584fee04782efb1c15">createBranchChild</a> (*branch_arg, child_idx);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;            }</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160; </div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;            <span class="comment">// take child branch from previous buffer</span></div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;            doNodeReset = <span class="keyword">true</span>; <span class="comment">// reset the branch pointer array of stolen child node</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160; </div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;          }</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;          {</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;            <span class="comment">// if required branch does not exist -&gt; create it</span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;            child_branch = <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a32ee92b40c29b9584fee04782efb1c15">createBranchChild</a> (*branch_arg, child_idx);</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;          }</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160; </div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a916dc0e91da6e69cea660dc6888659a9">branch_count_</a>++;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        }</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        <span class="comment">// required branch node already exists - use it</span></div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;          child_branch = <span class="keyword">static_cast&lt;</span>BranchNode*<span class="keyword">&gt;</span> (branch_arg-&gt;getChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>,child_idx));</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;        </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;        <span class="comment">// recursively proceed with indexed child branch</span></div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;        <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#aa8d912802822ab405316bdfb7b9bf05d">createLeafRecursive</a> (key_arg, depth_mask_arg / 2, child_branch, return_leaf_arg, parent_of_leaf_arg, doNodeReset);</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;      }</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      {</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        <span class="comment">// branch childs are leaf nodes</span></div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;        LeafNode* child_leaf;</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        <span class="keywordflow">if</span> (!branch_arg-&gt;hasChild(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx))</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;        {</div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;          <span class="comment">// leaf node at child_idx does not exist</span></div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;          </div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;          <span class="comment">// check if we can take copy a reference from previous buffer</span></div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;          <span class="keywordflow">if</span> (branch_arg-&gt;hasChild(!<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx))</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;          {</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160; </div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;            OctreeNode * child_node = branch_arg-&gt;getChildPtr(!<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>,child_idx);</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;            <span class="keywordflow">if</span> (child_node-&gt;getNodeType () == LEAF_NODE)</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;            {</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;              child_leaf = <span class="keyword">static_cast&lt;</span>LeafNode*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;              branch_arg-&gt;setChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx, child_node);</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;            } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;              <span class="comment">// depth has changed.. child in preceeding buffer is a leaf node.</span></div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a75e6f417bc4e56b3741e03b83e431125">deleteBranchChild</a> (*branch_arg, !<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx);</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160;              child_leaf = <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a0193ddc25ef5e3858b2b8fa002e51a86">createLeafChild</a> (*branch_arg, child_idx);</div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;            }</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3fea604145f48ddf459379e78666d194">leaf_count_</a>++;  </div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;          }</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;          {</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;            <span class="comment">// if required leaf does not exist -&gt; create it</span></div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;            child_leaf = <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a0193ddc25ef5e3858b2b8fa002e51a86">createLeafChild</a> (*branch_arg, child_idx);</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3fea604145f48ddf459379e78666d194">leaf_count_</a>++;</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;          }</div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;          </div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;          <span class="comment">// return leaf node</span></div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;          return_leaf_arg = child_leaf;</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160;          parent_of_leaf_arg = branch_arg;</div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        }</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160;        {</div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;          <span class="comment">// leaf node already exist</span></div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;          return_leaf_arg = <span class="keyword">static_cast&lt;</span>LeafNode*<span class="keyword">&gt;</span> (branch_arg-&gt;getChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>,child_idx));;</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;          parent_of_leaf_arg = branch_arg;</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;        }</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;      }</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160; </div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;      <span class="keywordflow">return</span> depth_mask_arg;</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160;    }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a0193ddc25ef5e3858b2b8fa002e51a86"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a0193ddc25ef5e3858b2b8fa002e51a86">pcl::octree::Octree2BufBase::createLeafChild</a></div><div class="ttdeci">LeafNode * createLeafChild(BranchNode &amp;branch_arg, unsigned char child_idx_arg)</div><div class="ttdoc">Fetch and add a new leaf child to a branch class</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:729</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a32ee92b40c29b9584fee04782efb1c15"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a32ee92b40c29b9584fee04782efb1c15">pcl::octree::Octree2BufBase::createBranchChild</a></div><div class="ttdeci">BranchNode * createBranchChild(BranchNode &amp;branch_arg, unsigned char child_idx_arg)</div><div class="ttdoc">Fetch and add a new branch child to a branch class in current buffer</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:712</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a3fea604145f48ddf459379e78666d194"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3fea604145f48ddf459379e78666d194">pcl::octree::Octree2BufBase::leaf_count_</a></div><div class="ttdeci">std::size_t leaf_count_</div><div class="ttdoc">Amount of leaf nodes</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:890</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a75e6f417bc4e56b3741e03b83e431125"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a75e6f417bc4e56b3741e03b83e431125">pcl::octree::Octree2BufBase::deleteBranchChild</a></div><div class="ttdeci">void deleteBranchChild(BranchNode &amp;branch_arg, unsigned char buffer_selector_arg, unsigned char child_idx_arg)</div><div class="ttdoc">Delete child node and all its subchilds from octree in specific buffer</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:635</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a916dc0e91da6e69cea660dc6888659a9"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a916dc0e91da6e69cea660dc6888659a9">pcl::octree::Octree2BufBase::branch_count_</a></div><div class="ttdeci">std::size_t branch_count_</div><div class="ttdoc">Amount of branch nodes</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:893</div></div>
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<a id="a05eb0796c239e4998545ac182f804937"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a05eb0796c239e4998545ac182f804937">&#9670;&nbsp;</a></span>deleteBranch()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::deleteBranch </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Delete branch and all its subchilds from octree (both buffers) </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;        {</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;          <span class="keywordtype">char</span> i;</div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160; </div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;          <span class="comment">// delete all branch node children</span></div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;          {</div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160; </div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;            <span class="keywordflow">if</span> (branch_arg.getChildPtr(0, i) == branch_arg.getChildPtr(1, i))</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160;            {</div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;              <span class="comment">// reference was copied - there is only one child instance to be deleted</span></div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a75e6f417bc4e56b3741e03b83e431125">deleteBranchChild</a> (branch_arg, 0, i);</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160; </div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160;              <span class="comment">// remove pointers from both buffers</span></div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;              branch_arg.setChildPtr(0, i, 0);</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;              branch_arg.setChildPtr(1, i, 0);</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;            }</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;            {</div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a75e6f417bc4e56b3741e03b83e431125">deleteBranchChild</a> (branch_arg, 0, i);</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a75e6f417bc4e56b3741e03b83e431125">deleteBranchChild</a> (branch_arg, 1, i);</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;            }</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160;          }</div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;        }</div>
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<a id="a75e6f417bc4e56b3741e03b83e431125"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a75e6f417bc4e56b3741e03b83e431125">&#9670;&nbsp;</a></span>deleteBranchChild() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::deleteBranchChild </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>buffer_selector_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>child_idx_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Delete child node and all its subchilds from octree in specific buffer </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
    <tr><td class="paramname">buffer_selector_arg</td><td>buffer selector </td></tr>
    <tr><td class="paramname">child_idx_arg</td><td>index to child node </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;        {</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160;          <span class="keywordflow">if</span> (branch_arg.hasChild(buffer_selector_arg, child_idx_arg))</div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;          {</div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;            OctreeNode* branchChild = branch_arg.getChildPtr(buffer_selector_arg, child_idx_arg);</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160; </div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160;            <span class="keywordflow">switch</span> (branchChild-&gt;getNodeType ())</div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;            {</div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;              <span class="keywordflow">case</span> BRANCH_NODE:</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;              {</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;                <span class="comment">// free child branch recursively</span></div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;                <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a05eb0796c239e4998545ac182f804937">deleteBranch</a> (*<span class="keyword">static_cast&lt;</span>BranchNode*<span class="keyword">&gt;</span> (branchChild));</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160; </div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;                <span class="comment">// delete unused branch</span></div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;                <span class="keyword">delete</span> (branchChild);</div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160;              }</div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160; </div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;              <span class="keywordflow">case</span> LEAF_NODE:</div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;              {</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160;                <span class="comment">// push unused leaf to branch pool</span></div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160;                <span class="keyword">delete</span> (branchChild);</div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;              }</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;              <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;            }</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160; </div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;            <span class="comment">// set branch child pointer to 0</span></div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;            branch_arg.setChildPtr(buffer_selector_arg, child_idx_arg, 0);</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;          }</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a05eb0796c239e4998545ac182f804937"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a05eb0796c239e4998545ac182f804937">pcl::octree::Octree2BufBase::deleteBranch</a></div><div class="ttdeci">void deleteBranch(BranchNode &amp;branch_arg)</div><div class="ttdoc">Delete branch and all its subchilds from octree (both buffers)</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:682</div></div>
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<a id="a6857dab0aa03c5052a0b1c83c5c3b377"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6857dab0aa03c5052a0b1c83c5c3b377">&#9670;&nbsp;</a></span>deleteBranchChild() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::deleteBranchChild </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>child_idx_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Delete child node and all its subchilds from octree in current buffer </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
    <tr><td class="paramname">child_idx_arg</td><td>index to child node </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;        {</div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a75e6f417bc4e56b3741e03b83e431125">deleteBranchChild</a>(branch_arg, <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx_arg);</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160;        }</div>
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<a id="af0607f6e0f4619808849777eb6586c6e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#af0607f6e0f4619808849777eb6586c6e">&#9670;&nbsp;</a></span>deleteLeafRecursive()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::deleteLeafRecursive </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>depth_mask_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> *&#160;</td>
          <td class="paramname"><em>branch_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Recursively search and delete leaf node </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">key_arg</td><td>reference to an octree key </td></tr>
    <tr><td class="paramname">depth_mask_arg</td><td>depth mask used for octree key analysis and branch depth indicator </td></tr>
    <tr><td class="paramname">branch_arg</td><td>current branch node </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>"true" if branch does not contain any childs; "false" otherwise. This indicates if current branch can be deleted. </dd></dl>
<div class="fragment"><div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;    {</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;      <span class="comment">// index to branch child</span></div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;      <span class="comment">// indicates if branch is empty and can be safely removed</span></div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;      <span class="keywordtype">bool</span> bNoChilds;</div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160; </div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;      <span class="comment">// find branch child from key</span></div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;      child_idx = key_arg.getChildIdxWithDepthMask (depth_mask_arg);</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;      <span class="keywordflow">if</span> (depth_mask_arg &gt; 1)</div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;      {</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;        <span class="comment">// we have not reached maximum tree depth</span></div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;        BranchNode* child_branch;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        <span class="keywordtype">bool</span> bBranchOccupied;</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;        </div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160;        <span class="comment">// next branch child on our path through the tree</span></div>
<div class="line"><a name="l00493"></a><span class="lineno">  493</span>&#160;        child_branch = <span class="keyword">static_cast&lt;</span>BranchNode*<span class="keyword">&gt;</span> (branch_arg-&gt;getChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>,child_idx));</div>
<div class="line"><a name="l00494"></a><span class="lineno">  494</span>&#160;        </div>
<div class="line"><a name="l00495"></a><span class="lineno">  495</span>&#160;        <span class="keywordflow">if</span> (child_branch)</div>
<div class="line"><a name="l00496"></a><span class="lineno">  496</span>&#160;        {</div>
<div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;          <span class="comment">// recursively explore the indexed child branch</span></div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;          bBranchOccupied = <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#af0607f6e0f4619808849777eb6586c6e">deleteLeafRecursive</a> (key_arg, depth_mask_arg / 2, child_branch);</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;          </div>
<div class="line"><a name="l00500"></a><span class="lineno">  500</span>&#160;          <span class="keywordflow">if</span> (!bBranchOccupied)</div>
<div class="line"><a name="l00501"></a><span class="lineno">  501</span>&#160;          {</div>
<div class="line"><a name="l00502"></a><span class="lineno">  502</span>&#160;            <span class="comment">// child branch does not own any sub-child nodes anymore -&gt; delete child branch</span></div>
<div class="line"><a name="l00503"></a><span class="lineno">  503</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a75e6f417bc4e56b3741e03b83e431125">deleteBranchChild</a> (*branch_arg, <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx);</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a916dc0e91da6e69cea660dc6888659a9">branch_count_</a>--;</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;          }</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;        }</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;      }</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;      {</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;        <span class="comment">// our child is a leaf node -&gt; delete it</span></div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a75e6f417bc4e56b3741e03b83e431125">deleteBranchChild</a> (*branch_arg, <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx);</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;        <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3fea604145f48ddf459379e78666d194">leaf_count_</a>--;</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;      }</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;      <span class="comment">// check if current branch still owns childs</span></div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;      bNoChilds = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;      <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;      {</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;        bNoChilds = branch_arg-&gt;hasChild(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx);</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;        <span class="keywordflow">if</span> (bNoChilds)</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;          <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;      }</div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160; </div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;      <span class="comment">// return true if current branch can be deleted</span></div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;      <span class="keywordflow">return</span> (bNoChilds);</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;    }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_af0607f6e0f4619808849777eb6586c6e"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#af0607f6e0f4619808849777eb6586c6e">pcl::octree::Octree2BufBase::deleteLeafRecursive</a></div><div class="ttdeci">bool deleteLeafRecursive(const OctreeKey &amp;key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg)</div><div class="ttdoc">Recursively search and delete leaf node</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:474</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a72c3d318307f1bbffc131076f45733a6"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a72c3d318307f1bbffc131076f45733a6">&#9670;&nbsp;</a></span>deserializeTree() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::deserializeTree </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; char &gt; &amp;&#160;</td>
          <td class="paramname"><em>binary_tree_in_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>do_XOR_decoding_arg</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Deserialize a binary octree description vector and create a corresponding octree structure. Leaf nodes are initialized with getDataTByKey(..). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">binary_tree_in_arg</td><td>reference to input vector for reading binary tree structure. </td></tr>
    <tr><td class="paramname">do_XOR_decoding_arg</td><td>select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    {</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      OctreeKey new_key;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160; </div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;      <span class="comment">// we will rebuild an octree -&gt; reset leafCount</span></div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3fea604145f48ddf459379e78666d194">leaf_count_</a> = 0;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160; </div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      <span class="comment">// iterator for binary tree structure vector</span></div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;      std::vector&lt;char&gt;::const_iterator binary_tree_in_it = binary_tree_in_arg.begin ();</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;      std::vector&lt;char&gt;::const_iterator binary_tree_in_it_end = binary_tree_in_arg.end ();</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ab8e6e1bf5b3a7362b8588742f204ffda">deserializeTreeRecursive</a> (<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a7ced5d5b658d5c86f3507a35aef47177">root_node_</a>, <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2cbfd23291f419d2bcdea61af33f4f5d">depth_mask_</a>, new_key,</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;          binary_tree_in_it, binary_tree_in_it_end, 0, 0, <span class="keyword">false</span>,</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;          do_XOR_decoding_arg);</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;      <span class="comment">// we modified the octree structure -&gt; clean-up/tree-reset might be required</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;      tree_dirty_flag_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;    }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_ab8e6e1bf5b3a7362b8588742f204ffda"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#ab8e6e1bf5b3a7362b8588742f204ffda">pcl::octree::Octree2BufBase::deserializeTreeRecursive</a></div><div class="ttdeci">void deserializeTreeRecursive(BranchNode *branch_arg, unsigned int depth_mask_arg, OctreeKey &amp;key_arg, typename std::vector&lt; char &gt;::const_iterator &amp;binary_tree_in_it_arg, typename std::vector&lt; char &gt;::const_iterator &amp;binary_tree_in_it_end_arg, typename std::vector&lt; LeafContainerT * &gt;::const_iterator *leaf_container_vector_it_arg, typename std::vector&lt; LeafContainerT * &gt;::const_iterator *leaf_container_vector_it_end_arg, bool branch_reset_arg=false, bool do_XOR_decoding_arg=false)</div><div class="ttdoc">Rebuild an octree based on binary XOR octree description and DataT objects for leaf node initializati...</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:629</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a9f19cf482b97afa875ef521d51b41e4a"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9f19cf482b97afa875ef521d51b41e4a">&#9670;&nbsp;</a></span>deserializeTree() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::deserializeTree </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; char &gt; &amp;&#160;</td>
          <td class="paramname"><em>binary_tree_in_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; LeafContainerT * &gt; &amp;&#160;</td>
          <td class="paramname"><em>leaf_container_vector_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>do_XOR_decoding_arg</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Deserialize a binary octree description and create a corresponding octree structure. Leaf nodes are initialized with DataT elements from the dataVector. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">binary_tree_in_arg</td><td>reference to inpvectoream for reading binary tree structure. </td></tr>
    <tr><td class="paramname">leaf_container_vector_arg</td><td>vector of pointers to all LeafContainerT objects in the octree </td></tr>
    <tr><td class="paramname">do_XOR_decoding_arg</td><td>select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    {</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      OctreeKey new_key;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;      <span class="comment">// set data iterator to first element</span></div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;      <span class="keyword">typename</span> std::vector&lt;LeafContainerT*&gt;::const_iterator leaf_container_vector_it = leaf_container_vector_arg.begin ();</div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160; </div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;      <span class="comment">// set data iterator to last element</span></div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;      <span class="keyword">typename</span> std::vector&lt;LeafContainerT*&gt;::const_iterator leaf_container_vector_it_end = leaf_container_vector_arg.end ();</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;      <span class="comment">// we will rebuild an octree -&gt; reset leafCount</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3fea604145f48ddf459379e78666d194">leaf_count_</a> = 0;</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160; </div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;      <span class="comment">// iterator for binary tree structure vector</span></div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;      std::vector&lt;char&gt;::const_iterator binary_tree_in_it = binary_tree_in_arg.begin ();</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;      std::vector&lt;char&gt;::const_iterator binary_tree_in_it_end = binary_tree_in_arg.end ();</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160; </div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ab8e6e1bf5b3a7362b8588742f204ffda">deserializeTreeRecursive</a> (<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a7ced5d5b658d5c86f3507a35aef47177">root_node_</a>,</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;                                <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2cbfd23291f419d2bcdea61af33f4f5d">depth_mask_</a>,</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;                                new_key,</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;                                binary_tree_in_it,</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;                                binary_tree_in_it_end,</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;                                &amp;leaf_container_vector_it,</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;                                &amp;leaf_container_vector_it_end,</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;                                <span class="keyword">false</span>,</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                                do_XOR_decoding_arg);</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160; </div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;      <span class="comment">// we modified the octree structure -&gt; clean-up/tree-reset might be required</span></div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;      tree_dirty_flag_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;    }</div>
</div><!-- fragment -->
</div>
</div>
<a id="ab8e6e1bf5b3a7362b8588742f204ffda"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab8e6e1bf5b3a7362b8588742f204ffda">&#9670;&nbsp;</a></span>deserializeTreeRecursive()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::deserializeTreeRecursive </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> *&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>depth_mask_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">typename std::vector&lt; char &gt;::const_iterator &amp;&#160;</td>
          <td class="paramname"><em>binary_tree_in_it_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">typename std::vector&lt; char &gt;::const_iterator &amp;&#160;</td>
          <td class="paramname"><em>binary_tree_in_it_end_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">typename std::vector&lt; LeafContainerT * &gt;::const_iterator *&#160;</td>
          <td class="paramname"><em>leaf_container_vector_it_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">typename std::vector&lt; LeafContainerT * &gt;::const_iterator *&#160;</td>
          <td class="paramname"><em>leaf_container_vector_it_end_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>branch_reset_arg</em> = <code>false</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>do_XOR_decoding_arg</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Rebuild an octree based on binary XOR octree description and DataT objects for leaf node initialization. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>current branch node </td></tr>
    <tr><td class="paramname">depth_mask_arg</td><td>depth mask used for octree key analysis and branch depth indicator </td></tr>
    <tr><td class="paramname">key_arg</td><td>reference to an octree key </td></tr>
    <tr><td class="paramname">binary_tree_in_it_arg</td><td>iterator of binary input data </td></tr>
    <tr><td class="paramname">binary_tree_in_it_end_arg</td><td></td></tr>
    <tr><td class="paramname">leaf_container_vector_it_arg</td><td>iterator pointing to leaf containter pointers to be added to a leaf node </td></tr>
    <tr><td class="paramname">leaf_container_vector_it_end_arg</td><td>iterator pointing to leaf containter pointers pointing to last object in input container. </td></tr>
    <tr><td class="paramname">branch_reset_arg</td><td>Reset pointer array of current branch </td></tr>
    <tr><td class="paramname">do_XOR_decoding_arg</td><td>select if binary tree structure is based on current octree (false) of based on a XOR comparison between current and previous octree </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00636"></a><span class="lineno">  636</span>&#160;    {</div>
<div class="line"><a name="l00637"></a><span class="lineno">  637</span>&#160;      <span class="comment">// child iterator</span></div>
<div class="line"><a name="l00638"></a><span class="lineno">  638</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00639"></a><span class="lineno">  639</span>&#160; </div>
<div class="line"><a name="l00640"></a><span class="lineno">  640</span>&#160;      <span class="comment">// node bits</span></div>
<div class="line"><a name="l00641"></a><span class="lineno">  641</span>&#160;      <span class="keywordtype">char</span> nodeBits;</div>
<div class="line"><a name="l00642"></a><span class="lineno">  642</span>&#160;      <span class="keywordtype">char</span> recoveredNodeBits;</div>
<div class="line"><a name="l00643"></a><span class="lineno">  643</span>&#160; </div>
<div class="line"><a name="l00644"></a><span class="lineno">  644</span>&#160;      <span class="comment">// branch reset -&gt; this branch has been taken from previous buffer</span></div>
<div class="line"><a name="l00645"></a><span class="lineno">  645</span>&#160;      <span class="keywordflow">if</span> (branch_reset_arg)</div>
<div class="line"><a name="l00646"></a><span class="lineno">  646</span>&#160;      {</div>
<div class="line"><a name="l00647"></a><span class="lineno">  647</span>&#160;        <span class="comment">// we can safely remove children references</span></div>
<div class="line"><a name="l00648"></a><span class="lineno">  648</span>&#160;        <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00649"></a><span class="lineno">  649</span>&#160;        {</div>
<div class="line"><a name="l00650"></a><span class="lineno">  650</span>&#160;          branch_arg-&gt;setChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx, 0);</div>
<div class="line"><a name="l00651"></a><span class="lineno">  651</span>&#160;        }  </div>
<div class="line"><a name="l00652"></a><span class="lineno">  652</span>&#160;      }</div>
<div class="line"><a name="l00653"></a><span class="lineno">  653</span>&#160; </div>
<div class="line"><a name="l00654"></a><span class="lineno">  654</span>&#160;      <span class="keywordflow">if</span> (binaryTreeIT_arg!=binaryTreeIT_End_arg) {</div>
<div class="line"><a name="l00655"></a><span class="lineno">  655</span>&#160;        <span class="comment">// read branch occupancy bit pattern from vector</span></div>
<div class="line"><a name="l00656"></a><span class="lineno">  656</span>&#160;        nodeBits = *binaryTreeIT_arg++;</div>
<div class="line"><a name="l00657"></a><span class="lineno">  657</span>&#160; </div>
<div class="line"><a name="l00658"></a><span class="lineno">  658</span>&#160; </div>
<div class="line"><a name="l00659"></a><span class="lineno">  659</span>&#160;        <span class="comment">// recover branch occupancy bit pattern</span></div>
<div class="line"><a name="l00660"></a><span class="lineno">  660</span>&#160;        <span class="keywordflow">if</span> (do_XOR_decoding_arg)</div>
<div class="line"><a name="l00661"></a><span class="lineno">  661</span>&#160;        {</div>
<div class="line"><a name="l00662"></a><span class="lineno">  662</span>&#160;          recoveredNodeBits = <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a192cf5ae63df971b4c0c8059db79053f">getBranchBitPattern</a> (*branch_arg, !<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>) ^ nodeBits;</div>
<div class="line"><a name="l00663"></a><span class="lineno">  663</span>&#160;        }</div>
<div class="line"><a name="l00664"></a><span class="lineno">  664</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00665"></a><span class="lineno">  665</span>&#160;        {</div>
<div class="line"><a name="l00666"></a><span class="lineno">  666</span>&#160;          recoveredNodeBits = nodeBits;</div>
<div class="line"><a name="l00667"></a><span class="lineno">  667</span>&#160;        }</div>
<div class="line"><a name="l00668"></a><span class="lineno">  668</span>&#160; </div>
<div class="line"><a name="l00669"></a><span class="lineno">  669</span>&#160;        <span class="comment">// iterate over all children</span></div>
<div class="line"><a name="l00670"></a><span class="lineno">  670</span>&#160;        <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00671"></a><span class="lineno">  671</span>&#160;        {</div>
<div class="line"><a name="l00672"></a><span class="lineno">  672</span>&#160;          <span class="comment">// if occupancy bit for child_idx is set..</span></div>
<div class="line"><a name="l00673"></a><span class="lineno">  673</span>&#160;          <span class="keywordflow">if</span> (recoveredNodeBits &amp; (1 &lt;&lt; child_idx))</div>
<div class="line"><a name="l00674"></a><span class="lineno">  674</span>&#160;          {</div>
<div class="line"><a name="l00675"></a><span class="lineno">  675</span>&#160;            <span class="comment">// add current branch voxel to key</span></div>
<div class="line"><a name="l00676"></a><span class="lineno">  676</span>&#160;            key_arg.pushBranch(child_idx);</div>
<div class="line"><a name="l00677"></a><span class="lineno">  677</span>&#160; </div>
<div class="line"><a name="l00678"></a><span class="lineno">  678</span>&#160;            <span class="keywordtype">bool</span> doNodeReset;</div>
<div class="line"><a name="l00679"></a><span class="lineno">  679</span>&#160;            </div>
<div class="line"><a name="l00680"></a><span class="lineno">  680</span>&#160;            doNodeReset = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00681"></a><span class="lineno">  681</span>&#160;            </div>
<div class="line"><a name="l00682"></a><span class="lineno">  682</span>&#160;            <span class="keywordflow">if</span> (depth_mask_arg &gt; 1)</div>
<div class="line"><a name="l00683"></a><span class="lineno">  683</span>&#160;            {</div>
<div class="line"><a name="l00684"></a><span class="lineno">  684</span>&#160;              <span class="comment">// we have not reached maximum tree depth</span></div>
<div class="line"><a name="l00685"></a><span class="lineno">  685</span>&#160; </div>
<div class="line"><a name="l00686"></a><span class="lineno">  686</span>&#160;              BranchNode* child_branch;</div>
<div class="line"><a name="l00687"></a><span class="lineno">  687</span>&#160; </div>
<div class="line"><a name="l00688"></a><span class="lineno">  688</span>&#160;              <span class="comment">// check if we find a branch node reference in previous buffer</span></div>
<div class="line"><a name="l00689"></a><span class="lineno">  689</span>&#160;              <span class="keywordflow">if</span> (!branch_arg-&gt;hasChild(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx))</div>
<div class="line"><a name="l00690"></a><span class="lineno">  690</span>&#160;              {</div>
<div class="line"><a name="l00691"></a><span class="lineno">  691</span>&#160; </div>
<div class="line"><a name="l00692"></a><span class="lineno">  692</span>&#160;                <span class="keywordflow">if</span> (branch_arg-&gt;hasChild(!<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx))</div>
<div class="line"><a name="l00693"></a><span class="lineno">  693</span>&#160;                {</div>
<div class="line"><a name="l00694"></a><span class="lineno">  694</span>&#160;                  OctreeNode* child_node = branch_arg-&gt;getChildPtr(!<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>,child_idx);</div>
<div class="line"><a name="l00695"></a><span class="lineno">  695</span>&#160; </div>
<div class="line"><a name="l00696"></a><span class="lineno">  696</span>&#160;                  <span class="keywordflow">if</span> (child_node-&gt;getNodeType()==BRANCH_NODE) {</div>
<div class="line"><a name="l00697"></a><span class="lineno">  697</span>&#160;                    child_branch = <span class="keyword">static_cast&lt;</span>BranchNode*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00698"></a><span class="lineno">  698</span>&#160;                    branch_arg-&gt;setChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx, child_node);</div>
<div class="line"><a name="l00699"></a><span class="lineno">  699</span>&#160;                  } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00700"></a><span class="lineno">  700</span>&#160;                    <span class="comment">// depth has changed.. child in preceeding buffer is a leaf node.</span></div>
<div class="line"><a name="l00701"></a><span class="lineno">  701</span>&#160;                    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a75e6f417bc4e56b3741e03b83e431125">deleteBranchChild</a> (*branch_arg, !<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx);</div>
<div class="line"><a name="l00702"></a><span class="lineno">  702</span>&#160;                    child_branch = <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a32ee92b40c29b9584fee04782efb1c15">createBranchChild</a> (*branch_arg, child_idx);</div>
<div class="line"><a name="l00703"></a><span class="lineno">  703</span>&#160;                  }</div>
<div class="line"><a name="l00704"></a><span class="lineno">  704</span>&#160; </div>
<div class="line"><a name="l00705"></a><span class="lineno">  705</span>&#160;                  <span class="comment">// take child branch from previous buffer</span></div>
<div class="line"><a name="l00706"></a><span class="lineno">  706</span>&#160;                  doNodeReset = <span class="keyword">true</span>; <span class="comment">// reset the branch pointer array of stolen child node</span></div>
<div class="line"><a name="l00707"></a><span class="lineno">  707</span>&#160;                }</div>
<div class="line"><a name="l00708"></a><span class="lineno">  708</span>&#160;                <span class="keywordflow">else</span></div>
<div class="line"><a name="l00709"></a><span class="lineno">  709</span>&#160;                {</div>
<div class="line"><a name="l00710"></a><span class="lineno">  710</span>&#160;                  <span class="comment">// if required branch does not exist -&gt; create it</span></div>
<div class="line"><a name="l00711"></a><span class="lineno">  711</span>&#160;                  child_branch = <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a32ee92b40c29b9584fee04782efb1c15">createBranchChild</a> (*branch_arg, child_idx);</div>
<div class="line"><a name="l00712"></a><span class="lineno">  712</span>&#160;                }</div>
<div class="line"><a name="l00713"></a><span class="lineno">  713</span>&#160; </div>
<div class="line"><a name="l00714"></a><span class="lineno">  714</span>&#160;                <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a916dc0e91da6e69cea660dc6888659a9">branch_count_</a>++;</div>
<div class="line"><a name="l00715"></a><span class="lineno">  715</span>&#160; </div>
<div class="line"><a name="l00716"></a><span class="lineno">  716</span>&#160;              }</div>
<div class="line"><a name="l00717"></a><span class="lineno">  717</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l00718"></a><span class="lineno">  718</span>&#160;              {</div>
<div class="line"><a name="l00719"></a><span class="lineno">  719</span>&#160;                <span class="comment">// required branch node already exists - use it</span></div>
<div class="line"><a name="l00720"></a><span class="lineno">  720</span>&#160;                child_branch = <span class="keyword">static_cast&lt;</span>BranchNode*<span class="keyword">&gt;</span> (branch_arg-&gt;getChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>,child_idx));</div>
<div class="line"><a name="l00721"></a><span class="lineno">  721</span>&#160;              }</div>
<div class="line"><a name="l00722"></a><span class="lineno">  722</span>&#160; </div>
<div class="line"><a name="l00723"></a><span class="lineno">  723</span>&#160;              <span class="comment">// recursively proceed with indexed child branch</span></div>
<div class="line"><a name="l00724"></a><span class="lineno">  724</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ab8e6e1bf5b3a7362b8588742f204ffda">deserializeTreeRecursive</a> (child_branch, depth_mask_arg / 2, key_arg,</div>
<div class="line"><a name="l00725"></a><span class="lineno">  725</span>&#160;                  binaryTreeIT_arg, binaryTreeIT_End_arg,</div>
<div class="line"><a name="l00726"></a><span class="lineno">  726</span>&#160;                  dataVectorIterator_arg, dataVectorEndIterator_arg,</div>
<div class="line"><a name="l00727"></a><span class="lineno">  727</span>&#160;                  doNodeReset, do_XOR_decoding_arg);</div>
<div class="line"><a name="l00728"></a><span class="lineno">  728</span>&#160; </div>
<div class="line"><a name="l00729"></a><span class="lineno">  729</span>&#160;            }</div>
<div class="line"><a name="l00730"></a><span class="lineno">  730</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00731"></a><span class="lineno">  731</span>&#160;            {</div>
<div class="line"><a name="l00732"></a><span class="lineno">  732</span>&#160;              <span class="comment">// branch childs are leaf nodes</span></div>
<div class="line"><a name="l00733"></a><span class="lineno">  733</span>&#160;              LeafNode* child_leaf;</div>
<div class="line"><a name="l00734"></a><span class="lineno">  734</span>&#160;              </div>
<div class="line"><a name="l00735"></a><span class="lineno">  735</span>&#160;              <span class="comment">// check if we can take copy a reference pointer from previous buffer</span></div>
<div class="line"><a name="l00736"></a><span class="lineno">  736</span>&#160;              <span class="keywordflow">if</span> (branch_arg-&gt;hasChild(!<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx))</div>
<div class="line"><a name="l00737"></a><span class="lineno">  737</span>&#160;              {</div>
<div class="line"><a name="l00738"></a><span class="lineno">  738</span>&#160;                <span class="comment">// take child leaf node from previous buffer</span></div>
<div class="line"><a name="l00739"></a><span class="lineno">  739</span>&#160;                OctreeNode* child_node = branch_arg-&gt;getChildPtr(!<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>,child_idx);</div>
<div class="line"><a name="l00740"></a><span class="lineno">  740</span>&#160;                <span class="keywordflow">if</span> (child_node-&gt;getNodeType()==LEAF_NODE) {</div>
<div class="line"><a name="l00741"></a><span class="lineno">  741</span>&#160;                  child_leaf = <span class="keyword">static_cast&lt;</span>LeafNode*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00742"></a><span class="lineno">  742</span>&#160;                  branch_arg-&gt;setChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx, child_node);</div>
<div class="line"><a name="l00743"></a><span class="lineno">  743</span>&#160;                } <span class="keywordflow">else</span> {</div>
<div class="line"><a name="l00744"></a><span class="lineno">  744</span>&#160;                  <span class="comment">// depth has changed.. child in preceeding buffer is a leaf node.</span></div>
<div class="line"><a name="l00745"></a><span class="lineno">  745</span>&#160;                  <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a75e6f417bc4e56b3741e03b83e431125">deleteBranchChild</a> (*branch_arg, !<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx);</div>
<div class="line"><a name="l00746"></a><span class="lineno">  746</span>&#160;                  child_leaf = <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a0193ddc25ef5e3858b2b8fa002e51a86">createLeafChild</a> (*branch_arg, child_idx);</div>
<div class="line"><a name="l00747"></a><span class="lineno">  747</span>&#160;                }</div>
<div class="line"><a name="l00748"></a><span class="lineno">  748</span>&#160;              }</div>
<div class="line"><a name="l00749"></a><span class="lineno">  749</span>&#160;              <span class="keywordflow">else</span></div>
<div class="line"><a name="l00750"></a><span class="lineno">  750</span>&#160;              {</div>
<div class="line"><a name="l00751"></a><span class="lineno">  751</span>&#160;                <span class="comment">// if required leaf does not exist -&gt; create it</span></div>
<div class="line"><a name="l00752"></a><span class="lineno">  752</span>&#160;                child_leaf = <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a0193ddc25ef5e3858b2b8fa002e51a86">createLeafChild</a> (*branch_arg, child_idx);</div>
<div class="line"><a name="l00753"></a><span class="lineno">  753</span>&#160;              }</div>
<div class="line"><a name="l00754"></a><span class="lineno">  754</span>&#160; </div>
<div class="line"><a name="l00755"></a><span class="lineno">  755</span>&#160;              <span class="comment">// we reached leaf node level</span></div>
<div class="line"><a name="l00756"></a><span class="lineno">  756</span>&#160; </div>
<div class="line"><a name="l00757"></a><span class="lineno">  757</span>&#160;              <span class="keywordflow">if</span> (dataVectorIterator_arg</div>
<div class="line"><a name="l00758"></a><span class="lineno">  758</span>&#160;                  &amp;&amp; (*dataVectorIterator_arg != *dataVectorEndIterator_arg))</div>
<div class="line"><a name="l00759"></a><span class="lineno">  759</span>&#160;              {</div>
<div class="line"><a name="l00760"></a><span class="lineno">  760</span>&#160;                LeafContainerT&amp; container = **child_leaf;</div>
<div class="line"><a name="l00761"></a><span class="lineno">  761</span>&#160;                container =  ***dataVectorIterator_arg;</div>
<div class="line"><a name="l00762"></a><span class="lineno">  762</span>&#160;                ++*dataVectorIterator_arg;</div>
<div class="line"><a name="l00763"></a><span class="lineno">  763</span>&#160;              }</div>
<div class="line"><a name="l00764"></a><span class="lineno">  764</span>&#160; </div>
<div class="line"><a name="l00765"></a><span class="lineno">  765</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3fea604145f48ddf459379e78666d194">leaf_count_</a>++;</div>
<div class="line"><a name="l00766"></a><span class="lineno">  766</span>&#160; </div>
<div class="line"><a name="l00767"></a><span class="lineno">  767</span>&#160;              <span class="comment">// execute deserialization callback</span></div>
<div class="line"><a name="l00768"></a><span class="lineno">  768</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6b8a10625ed223f3fc280648198359dd">deserializeTreeCallback</a> (**child_leaf, key_arg);</div>
<div class="line"><a name="l00769"></a><span class="lineno">  769</span>&#160; </div>
<div class="line"><a name="l00770"></a><span class="lineno">  770</span>&#160;            }</div>
<div class="line"><a name="l00771"></a><span class="lineno">  771</span>&#160; </div>
<div class="line"><a name="l00772"></a><span class="lineno">  772</span>&#160;            <span class="comment">// pop current branch voxel from key</span></div>
<div class="line"><a name="l00773"></a><span class="lineno">  773</span>&#160;            key_arg.popBranch();</div>
<div class="line"><a name="l00774"></a><span class="lineno">  774</span>&#160;          }</div>
<div class="line"><a name="l00775"></a><span class="lineno">  775</span>&#160;          <span class="keywordflow">else</span> <span class="keywordflow">if</span> (branch_arg-&gt;hasChild (!<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx))</div>
<div class="line"><a name="l00776"></a><span class="lineno">  776</span>&#160;          {</div>
<div class="line"><a name="l00777"></a><span class="lineno">  777</span>&#160;            <span class="comment">// remove old branch pointer information in current branch</span></div>
<div class="line"><a name="l00778"></a><span class="lineno">  778</span>&#160;            branch_arg-&gt;setChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx, 0);</div>
<div class="line"><a name="l00779"></a><span class="lineno">  779</span>&#160;            </div>
<div class="line"><a name="l00780"></a><span class="lineno">  780</span>&#160;            <span class="comment">// remove unused branches in previous buffer</span></div>
<div class="line"><a name="l00781"></a><span class="lineno">  781</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a75e6f417bc4e56b3741e03b83e431125">deleteBranchChild</a> (*branch_arg, !<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx);</div>
<div class="line"><a name="l00782"></a><span class="lineno">  782</span>&#160;          }</div>
<div class="line"><a name="l00783"></a><span class="lineno">  783</span>&#160;        }</div>
<div class="line"><a name="l00784"></a><span class="lineno">  784</span>&#160;      }</div>
<div class="line"><a name="l00785"></a><span class="lineno">  785</span>&#160; </div>
<div class="line"><a name="l00786"></a><span class="lineno">  786</span>&#160;    }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a192cf5ae63df971b4c0c8059db79053f"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a192cf5ae63df971b4c0c8059db79053f">pcl::octree::Octree2BufBase::getBranchBitPattern</a></div><div class="ttdeci">char getBranchBitPattern(const BranchNode &amp;branch_arg) const</div><div class="ttdoc">Generate bit pattern reflecting the existence of child node pointers for current buffer</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:558</div></div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a6b8a10625ed223f3fc280648198359dd"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6b8a10625ed223f3fc280648198359dd">pcl::octree::Octree2BufBase::deserializeTreeCallback</a></div><div class="ttdeci">virtual void deserializeTreeCallback(LeafContainerT &amp;, const OctreeKey &amp;)</div><div class="ttdoc">Callback executed for every leaf node data during deserialization</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:837</div></div>
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<a id="aba494be8477c3787990b7ecffcd820e2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aba494be8477c3787990b7ecffcd820e2">&#9670;&nbsp;</a></span>existLeaf() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::existLeaf </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Check for leaf not existance in the octree </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">key_arg</td><td>octree key addressing a leaf node. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>"true" if leaf node is found; "false" otherwise </dd></dl>
<div class="fragment"><div class="line"><a name="l00497"></a><span class="lineno">  497</span>&#160;        {</div>
<div class="line"><a name="l00498"></a><span class="lineno">  498</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3e5834225c6ed85452fbad295497ffa5">findLeaf</a>(key_arg) != 0);</div>
<div class="line"><a name="l00499"></a><span class="lineno">  499</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a3e5834225c6ed85452fbad295497ffa5"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3e5834225c6ed85452fbad295497ffa5">pcl::octree::Octree2BufBase::findLeaf</a></div><div class="ttdeci">LeafContainerT * findLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</div><div class="ttdoc">Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:105</div></div>
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<a id="a4bdd0fdf775f73746e15f15463051c07"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4bdd0fdf775f73746e15f15463051c07">&#9670;&nbsp;</a></span>existLeaf() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::existLeaf </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_x_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_y_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_z_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Check for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">idx_x_arg</td><td>index of leaf node in the X axis. </td></tr>
    <tr><td class="paramname">idx_y_arg</td><td>index of leaf node in the Y axis. </td></tr>
    <tr><td class="paramname">idx_z_arg</td><td>index of leaf node in the Z axis. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>"true" if leaf node search is successful, otherwise it returns "false". </dd></dl>
<div class="fragment"><div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    {</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;      <span class="comment">// generate key</span></div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      OctreeKey key (idx_x_arg, idx_y_arg, idx_z_arg);</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;      <span class="comment">// check if key exist in octree</span></div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;      <span class="keywordflow">return</span> <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4bdd0fdf775f73746e15f15463051c07">existLeaf</a> (key);</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;    }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a4bdd0fdf775f73746e15f15463051c07"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4bdd0fdf775f73746e15f15463051c07">pcl::octree::Octree2BufBase::existLeaf</a></div><div class="ttdeci">bool existLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg) const</div><div class="ttdoc">Check for the existence of leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:127</div></div>
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<a id="a15bcc57e4a3ac9173d494302b5e4846f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a15bcc57e4a3ac9173d494302b5e4846f">&#9670;&nbsp;</a></span>findLeaf() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">LeafContainerT* <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::findLeaf </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Find leaf node </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">key_arg</td><td>octree key addressing a leaf node. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointer to leaf container. If leaf node is not found, this pointer returns 0. </dd></dl>
<div class="fragment"><div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;        {</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;          LeafContainerT* result = 0;</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ae4ce238fbace7c54d8df99ca3f679f35">findLeafRecursive</a> (key_arg, <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2cbfd23291f419d2bcdea61af33f4f5d">depth_mask_</a>, <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a7ced5d5b658d5c86f3507a35aef47177">root_node_</a>, result);</div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;          <span class="keywordflow">return</span> result;</div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_ae4ce238fbace7c54d8df99ca3f679f35"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#ae4ce238fbace7c54d8df99ca3f679f35">pcl::octree::Octree2BufBase::findLeafRecursive</a></div><div class="ttdeci">void findLeafRecursive(const OctreeKey &amp;key_arg, unsigned int depth_mask_arg, BranchNode *branch_arg, LeafContainerT *&amp;result_arg) const</div><div class="ttdoc">Recursively search for a given leaf node and return a pointer.</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:439</div></div>
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<a id="a3e5834225c6ed85452fbad295497ffa5"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a3e5834225c6ed85452fbad295497ffa5">&#9670;&nbsp;</a></span>findLeaf() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">LeafContainerT * <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::findLeaf </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_x_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_y_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_z_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Find leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). </p>
<dl class="section note"><dt>注解</dt><dd>If leaf node already exist, this method returns the existing node </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">idx_x_arg</td><td>index of leaf node in the X axis. </td></tr>
    <tr><td class="paramname">idx_y_arg</td><td>index of leaf node in the Y axis. </td></tr>
    <tr><td class="paramname">idx_z_arg</td><td>index of leaf node in the Z axis. </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointer to leaf node container if found, null pointer otherwise. </dd></dl>
<div class="fragment"><div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;     {</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;       <span class="comment">// generate key</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;       OctreeKey key (idx_x_arg, idx_y_arg, idx_z_arg);</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;       <span class="comment">// check if key exist in octree</span></div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;       <span class="keywordflow">return</span> ( <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3e5834225c6ed85452fbad295497ffa5">findLeaf</a> (key));</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;     }</div>
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</div>
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<a id="ae4ce238fbace7c54d8df99ca3f679f35"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae4ce238fbace7c54d8df99ca3f679f35">&#9670;&nbsp;</a></span>findLeafRecursive()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::findLeafRecursive </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>depth_mask_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> *&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">LeafContainerT *&amp;&#160;</td>
          <td class="paramname"><em>result_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Recursively search for a given leaf node and return a pointer. </p>
<dl class="section note"><dt>注解</dt><dd>If leaf node does not exist, a 0 pointer is returned. </dd></dl>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">key_arg</td><td>reference to an octree key </td></tr>
    <tr><td class="paramname">depth_mask_arg</td><td>depth mask used for octree key analysis and for branch depth indicator </td></tr>
    <tr><td class="paramname">branch_arg</td><td>current branch node </td></tr>
    <tr><td class="paramname">result_arg</td><td>pointer to leaf container class </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;    {</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160;      <span class="comment">// return leaf node</span></div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160; </div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;      <span class="comment">// find branch child from key</span></div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;      child_idx = key_arg.getChildIdxWithDepthMask (depth_mask_arg);</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160; </div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;      <span class="keywordflow">if</span> (depth_mask_arg &gt; 1)</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;      {</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160;        <span class="comment">// we have not reached maximum tree depth</span></div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;        BranchNode* child_branch;</div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;        child_branch = <span class="keyword">static_cast&lt;</span>BranchNode*<span class="keyword">&gt;</span> (branch_arg-&gt;getChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>,child_idx));</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;        </div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;        <span class="keywordflow">if</span> (child_branch)</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;          <span class="comment">// recursively proceed with indexed child branch</span></div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ae4ce238fbace7c54d8df99ca3f679f35">findLeafRecursive</a> (key_arg, depth_mask_arg / 2, child_branch, result_arg);</div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;      }</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;      <span class="keywordflow">else</span></div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;      {</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;        <span class="comment">// we reached leaf node level</span></div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160;        <span class="keywordflow">if</span> (branch_arg-&gt;hasChild(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx))</div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;        {</div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;          <span class="comment">// return existing leaf node</span></div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;          LeafNode* leaf_node = <span class="keyword">static_cast&lt;</span>LeafNode*<span class="keyword">&gt;</span> (branch_arg-&gt;getChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>,child_idx));</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;          result_arg = leaf_node-&gt;getContainerPtr();;</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;        }</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;      }    </div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160;    }</div>
</div><!-- fragment -->
</div>
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<a id="a192cf5ae63df971b4c0c8059db79053f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a192cf5ae63df971b4c0c8059db79053f">&#9670;&nbsp;</a></span>getBranchBitPattern() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">char <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::getBranchBitPattern </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Generate bit pattern reflecting the existence of child node pointers for current buffer </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>a single byte with 8 bits of child node information </dd></dl>
<div class="fragment"><div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;        {</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> i;</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;          <span class="keywordtype">char</span> node_bits;</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160; </div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;          <span class="comment">// create bit pattern</span></div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;          node_bits = 0;</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;          {</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;            <span class="keyword">const</span> OctreeNode* child = branch_arg.getChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, i);</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;            node_bits |= <span class="keyword">static_cast&lt;</span><span class="keywordtype">char</span><span class="keyword">&gt;</span> ( (!!child) &lt;&lt; i);</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;          }</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160; </div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;          <span class="keywordflow">return</span> (node_bits);</div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;        }</div>
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<a id="a4d808f57dcd79f80d4d996c4d9c0156e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a4d808f57dcd79f80d4d996c4d9c0156e">&#9670;&nbsp;</a></span>getBranchBitPattern() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">char <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::getBranchBitPattern </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>bufferSelector_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Generate bit pattern reflecting the existence of child node pointers in specific buffer </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
    <tr><td class="paramname">bufferSelector_arg</td><td>buffer selector </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>a single byte with 8 bits of child node information </dd></dl>
<div class="fragment"><div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;        {</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> i;</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;          <span class="keywordtype">char</span> node_bits;</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160; </div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;          <span class="comment">// create bit pattern</span></div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;          node_bits = 0;</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160;          {</div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;            <span class="keyword">const</span> OctreeNode* child = branch_arg.getChildPtr(bufferSelector_arg, i);</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;            node_bits |= <span class="keyword">static_cast&lt;</span><span class="keywordtype">char</span><span class="keyword">&gt;</span> ( (!!child) &lt;&lt; i);</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;          }</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160; </div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;          <span class="keywordflow">return</span> (node_bits);</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;        }</div>
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<a id="aa9b75e568e00984deca987571a445d3b"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa9b75e568e00984deca987571a445d3b">&#9670;&nbsp;</a></span>getBranchChildPtr()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname"><a class="el" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a>* <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::getBranchChildPtr </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>child_idx_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Retrieve a child node pointer for child node at child_idx. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
    <tr><td class="paramname">child_idx_arg</td><td>index to child node </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>pointer to octree child node class </dd></dl>
<div class="fragment"><div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;        {</div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;          <span class="keywordflow">return</span> branch_arg.getChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx_arg);</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;        }</div>
</div><!-- fragment -->
</div>
</div>
<a id="aca11d3801c77ccb9cd55e5569f5a5455"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aca11d3801c77ccb9cd55e5569f5a5455">&#9670;&nbsp;</a></span>getBranchCount()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">std::size_t <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::getBranchCount </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Return the amount of existing branches in the octree. </p>
<dl class="section return"><dt>返回</dt><dd>amount of branch nodes. </dd></dl>
<div class="fragment"><div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        {</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a916dc0e91da6e69cea660dc6888659a9">branch_count_</a>);</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;        }</div>
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</div>
</div>
<a id="a6929660951a1e75301f128ec387b3534"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6929660951a1e75301f128ec387b3534">&#9670;&nbsp;</a></span>getBranchXORBitPattern()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">char <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::getBranchXORBitPattern </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Generate XOR bit pattern reflecting differences between the two octree buffers </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>a single byte with 8 bits of child node XOR difference information </dd></dl>
<div class="fragment"><div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;        {</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> i;</div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;          <span class="keywordtype">char</span> node_bits[2];</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160; </div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;          <span class="comment">// create bit pattern for both buffers</span></div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;          node_bits[0] = node_bits[1] = 0;</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160; </div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;          <span class="keywordflow">for</span> (i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;          {</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;            <span class="keyword">const</span> OctreeNode* childA = branch_arg.getChildPtr(0, i);</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;            <span class="keyword">const</span> OctreeNode* childB = branch_arg.getChildPtr(1, i);</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160; </div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;            node_bits[0] |= <span class="keyword">static_cast&lt;</span><span class="keywordtype">char</span><span class="keyword">&gt;</span> ( (!!childA) &lt;&lt; i);</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;            node_bits[1] |= <span class="keyword">static_cast&lt;</span><span class="keywordtype">char</span><span class="keyword">&gt;</span> ( (!!childB) &lt;&lt; i);</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;          }</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160; </div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;          <span class="keywordflow">return</span> node_bits[0] ^ node_bits[1];</div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;        }</div>
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</div>
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<a id="a30097068e7d729677aa4e84fdf46261e"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a30097068e7d729677aa4e84fdf46261e">&#9670;&nbsp;</a></span>getLeafCount()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">std::size_t <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::getLeafCount </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Return the amount of existing leafs in the octree. </p>
<dl class="section return"><dt>返回</dt><dd>amount of registered leaf nodes. </dd></dl>
<div class="fragment"><div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;        {</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3fea604145f48ddf459379e78666d194">leaf_count_</a>);</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;        }</div>
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</div>
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<a id="a33a76633142a350aec3abf4d855265f7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a33a76633142a350aec3abf4d855265f7">&#9670;&nbsp;</a></span>getTreeDepth()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
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          <td class="memname">unsigned int <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::getTreeDepth </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td> const</td>
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  </td>
  <td class="mlabels-right">
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<p>Get the maximum depth of the octree. </p>
<dl class="section return"><dt>返回</dt><dd>depth_arg: maximum depth of octree </dd></dl>
<div class="fragment"><div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;        {</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;          <span class="keywordflow">return</span> this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ae1c0c62c342048d64505d61940b1a4df">octree_depth_</a>;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_ae1c0c62c342048d64505d61940b1a4df"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#ae1c0c62c342048d64505d61940b1a4df">pcl::octree::Octree2BufBase::octree_depth_</a></div><div class="ttdeci">unsigned int octree_depth_</div><div class="ttdoc">Octree depth</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:911</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0a2fca8c9c60278a6ff01921ab17406a">&#9670;&nbsp;</a></span>hasBranchChanges()</h2>

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<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
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          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::hasBranchChanges </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em></td><td>)</td>
          <td> const</td>
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<p>Test if branch changed between previous and current buffer </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>"true", if child node information differs between current and previous octree buffer </dd></dl>
<div class="fragment"><div class="line"><a name="l00626"></a><span class="lineno">  626</span>&#160;        {</div>
<div class="line"><a name="l00627"></a><span class="lineno">  627</span>&#160;          <span class="keywordflow">return</span> (<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6929660951a1e75301f128ec387b3534">getBranchXORBitPattern</a> (branch_arg) &gt; 0);</div>
<div class="line"><a name="l00628"></a><span class="lineno">  628</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a6929660951a1e75301f128ec387b3534"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6929660951a1e75301f128ec387b3534">pcl::octree::Octree2BufBase::getBranchXORBitPattern</a></div><div class="ttdeci">char getBranchXORBitPattern(const BranchNode &amp;branch_arg) const</div><div class="ttdoc">Generate XOR bit pattern reflecting differences between the two octree buffers</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:600</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a0ad52b712883298d7cb687692c8eb4ac">&#9670;&nbsp;</a></span>Log2()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
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          <td class="memname">double <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::Log2 </td>
          <td>(</td>
          <td class="paramtype">double&#160;</td>
          <td class="paramname"><em>n_arg</em></td><td>)</td>
          <td></td>
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<p>Helper function to calculate the binary logarithm </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">n_arg</td><td>some value </td></tr>
  </table>
  </dd>
</dl>
<dl class="section return"><dt>返回</dt><dd>binary logarithm (log2) of argument n_arg </dd></dl>
<div class="fragment"><div class="line"><a name="l00857"></a><span class="lineno">  857</span>&#160;        {</div>
<div class="line"><a name="l00858"></a><span class="lineno">  858</span>&#160;          <span class="keywordflow">return</span> log (n_arg) / log (2.0);</div>
<div class="line"><a name="l00859"></a><span class="lineno">  859</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a543591992f19e283f1429e14b59515b5">&#9670;&nbsp;</a></span>octreeCanResize()</h2>

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template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
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          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::octreeCanResize </td>
          <td>(</td>
          <td class="paramname"></td><td>)</td>
          <td></td>
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<p>Test if octree is able to dynamically change its depth. This is required for adaptive bounding box adjustment. </p>
<dl class="section return"><dt>返回</dt><dd>"false" - not resizeable due to XOR serialization </dd></dl>
<div class="fragment"><div class="line"><a name="l00865"></a><span class="lineno">  865</span>&#160;        {</div>
<div class="line"><a name="l00866"></a><span class="lineno">  866</span>&#160;          <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00867"></a><span class="lineno">  867</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a86bfa6dbf345c17a65920406ca23d456">&#9670;&nbsp;</a></span>printBinary()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::printBinary </td>
          <td>(</td>
          <td class="paramtype">char&#160;</td>
          <td class="paramname"><em>data_arg</em></td><td>)</td>
          <td></td>
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<p>Prints binary representation of a byte - used for debugging </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">data_arg</td><td>- byte to be printed to stdout </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00873"></a><span class="lineno">  873</span>&#160;        {</div>
<div class="line"><a name="l00874"></a><span class="lineno">  874</span>&#160;          <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> mask = 1;  <span class="comment">// Bit mask</span></div>
<div class="line"><a name="l00875"></a><span class="lineno">  875</span>&#160; </div>
<div class="line"><a name="l00876"></a><span class="lineno">  876</span>&#160;          <span class="comment">// Extract the bits</span></div>
<div class="line"><a name="l00877"></a><span class="lineno">  877</span>&#160;          <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; 8; i++)</div>
<div class="line"><a name="l00878"></a><span class="lineno">  878</span>&#160;          {</div>
<div class="line"><a name="l00879"></a><span class="lineno">  879</span>&#160;            <span class="comment">// Mask each bit in the byte and print it</span></div>
<div class="line"><a name="l00880"></a><span class="lineno">  880</span>&#160;            std::cout &lt;&lt; ((data_arg &amp; (mask &lt;&lt; i)) ? <span class="stringliteral">&quot;1&quot;</span> : <span class="stringliteral">&quot;0&quot;</span>);</div>
<div class="line"><a name="l00881"></a><span class="lineno">  881</span>&#160;          }</div>
<div class="line"><a name="l00882"></a><span class="lineno">  882</span>&#160;          std::cout &lt;&lt; std::endl;</div>
<div class="line"><a name="l00883"></a><span class="lineno">  883</span>&#160;        }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a56dcfee60b85003d20b367c7b0ab17e0">&#9670;&nbsp;</a></span>removeLeaf() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
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          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::removeLeaf </td>
          <td>(</td>
          <td class="paramtype">const <a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em></td><td>)</td>
          <td></td>
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<p>Remove leaf node from octree </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">key_arg</td><td>octree key addressing a leaf node. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;        {</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;          <span class="keywordflow">if</span> (key_arg &lt;= <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a1cdf089fb6ce268a539915026baa10c0">max_key_</a>)</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;          {</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;            <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#af0607f6e0f4619808849777eb6586c6e">deleteLeafRecursive</a> (key_arg, <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2cbfd23291f419d2bcdea61af33f4f5d">depth_mask_</a>, <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a7ced5d5b658d5c86f3507a35aef47177">root_node_</a>);</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160; </div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;            <span class="comment">// we changed the octree structure -&gt; dirty</span></div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;            tree_dirty_flag_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;          }</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;        }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a1cdf089fb6ce268a539915026baa10c0"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a1cdf089fb6ce268a539915026baa10c0">pcl::octree::Octree2BufBase::max_key_</a></div><div class="ttdeci">OctreeKey max_key_</div><div class="ttdoc">key range</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:902</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#ad52ba45870a26d8dd428e1f619d5ef0a">&#9670;&nbsp;</a></span>removeLeaf() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::removeLeaf </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_x_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_y_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>idx_z_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg). </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">idx_x_arg</td><td>index of leaf node in the X axis. </td></tr>
    <tr><td class="paramname">idx_y_arg</td><td>index of leaf node in the Y axis. </td></tr>
    <tr><td class="paramname">idx_z_arg</td><td>index of leaf node in the Z axis. </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;    {</div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;      <span class="comment">// generate key</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;      OctreeKey key (idx_x_arg, idx_y_arg, idx_z_arg);</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160; </div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;      <span class="comment">// free voxel at key</span></div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;      <span class="keywordflow">return</span> (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ad52ba45870a26d8dd428e1f619d5ef0a">removeLeaf</a> (key));</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_ad52ba45870a26d8dd428e1f619d5ef0a"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#ad52ba45870a26d8dd428e1f619d5ef0a">pcl::octree::Octree2BufBase::removeLeaf</a></div><div class="ttdeci">void removeLeaf(unsigned int idx_x_arg, unsigned int idx_y_arg, unsigned int idx_z_arg)</div><div class="ttdoc">Remove leaf node at (idx_x_arg, idx_y_arg, idx_z_arg).</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:138</div></div>
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<h2 class="memtitle"><span class="permalink"><a href="#a167942a5a0601a8cc1c15fcf26232acf">&#9670;&nbsp;</a></span>serializeLeafs()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
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          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::serializeLeafs </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; LeafContainerT * &gt; &amp;&#160;</td>
          <td class="paramname"><em>leaf_container_vector_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Outputs a vector of all DataT elements that are stored within the octree leaf nodes. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">leaf_container_vector_arg</td><td>vector of pointers to all LeafContainerT objects in the octree </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;    {</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      OctreeKey new_key;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160; </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      <span class="comment">// clear output vector</span></div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;      leaf_container_vector_arg.clear ();</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160; </div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      leaf_container_vector_arg.reserve (<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3fea604145f48ddf459379e78666d194">leaf_count_</a>);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6cf255789af15b3766c7e5f327bcbb43">serializeTreeRecursive</a> (<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a7ced5d5b658d5c86f3507a35aef47177">root_node_</a>, new_key, 0, &amp;leaf_container_vector_arg, <span class="keyword">false</span>, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;      <span class="comment">// serializeLeafsRecursive cleans-up unused octree nodes in previous octree</span></div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;      tree_dirty_flag_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;    }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a6cf255789af15b3766c7e5f327bcbb43"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6cf255789af15b3766c7e5f327bcbb43">pcl::octree::Octree2BufBase::serializeTreeRecursive</a></div><div class="ttdeci">void serializeTreeRecursive(BranchNode *branch_arg, OctreeKey &amp;key_arg, std::vector&lt; char &gt; *binary_tree_out_arg, typename std::vector&lt; LeafContainerT * &gt; *leaf_container_vector_arg, bool do_XOR_encoding_arg=false, bool new_leafs_filter_arg=false)</div><div class="ttdoc">Recursively explore the octree and output binary octree description together with a vector of leaf no...</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:530</div></div>
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<a id="acb0d130018cef2b721638ff2d6d49f5f"></a>
<h2 class="memtitle"><span class="permalink"><a href="#acb0d130018cef2b721638ff2d6d49f5f">&#9670;&nbsp;</a></span>serializeNewLeafs()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::serializeNewLeafs </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; LeafContainerT * &gt; &amp;&#160;</td>
          <td class="paramname"><em>leaf_container_vector_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Outputs a vector of all DataT elements from leaf nodes, that do not exist in the previous octree buffer. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">leaf_container_vector_arg</td><td>vector of pointers to all LeafContainerT objects in the octree </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;    {</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      OctreeKey new_key;</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160; </div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;      <span class="comment">// clear output vector</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;      leaf_container_vector_arg.clear ();</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;      leaf_container_vector_arg.reserve (<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3fea604145f48ddf459379e78666d194">leaf_count_</a>);</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160; </div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6cf255789af15b3766c7e5f327bcbb43">serializeTreeRecursive</a> (<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a7ced5d5b658d5c86f3507a35aef47177">root_node_</a>, new_key, 0, &amp;leaf_container_vector_arg, <span class="keyword">false</span>, <span class="keyword">true</span>);</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160; </div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;      <span class="comment">// serializeLeafsRecursive cleans-up unused octree nodes in previous octree buffer</span></div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;      tree_dirty_flag_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a4ab50312544738fbcb2dcec19be7d1c0">&#9670;&nbsp;</a></span>serializeTree() <span class="overload">[1/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::serializeTree </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; char &gt; &amp;&#160;</td>
          <td class="paramname"><em>binary_tree_out_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>do_XOR_encoding_arg</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Serialize octree into a binary output vector describing its branch node structure. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">binary_tree_out_arg</td><td>reference to output vector for writing binary tree structure. </td></tr>
    <tr><td class="paramname">do_XOR_encoding_arg</td><td>select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;      OctreeKey new_key;</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      </div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      <span class="comment">// clear binary vector</span></div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;      binary_tree_out_arg.clear ();</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;      binary_tree_out_arg.reserve (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a916dc0e91da6e69cea660dc6888659a9">branch_count_</a>);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160; </div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6cf255789af15b3766c7e5f327bcbb43">serializeTreeRecursive</a> (<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a7ced5d5b658d5c86f3507a35aef47177">root_node_</a>, new_key, &amp;binary_tree_out_arg, 0, do_XOR_encoding_arg, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160; </div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="comment">// serializeTreeRecursive cleans-up unused octree nodes in previous octree</span></div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      tree_dirty_flag_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;    }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a1888556d69a9ec1bf8ac50f722c62be1">&#9670;&nbsp;</a></span>serializeTree() <span class="overload">[2/2]</span></h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::serializeTree </td>
          <td>(</td>
          <td class="paramtype">std::vector&lt; char &gt; &amp;&#160;</td>
          <td class="paramname"><em>binary_tree_out_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; LeafContainerT * &gt; &amp;&#160;</td>
          <td class="paramname"><em>leaf_container_vector_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>do_XOR_encoding_arg</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Serialize octree into a binary output vector describing its branch node structure and and push all DataT elements stored in the octree to a vector. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">binary_tree_out_arg</td><td>reference to output vector for writing binary tree structure. </td></tr>
    <tr><td class="paramname">leaf_container_vector_arg</td><td>pointer to all LeafContainerT objects in the octree </td></tr>
    <tr><td class="paramname">do_XOR_encoding_arg</td><td>select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;    {</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;      OctreeKey new_key;</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160; </div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;      <span class="comment">// clear output vectors</span></div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      binary_tree_out_arg.clear ();</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      leaf_container_vector_arg.clear ();</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160; </div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;      leaf_container_vector_arg.reserve (<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a3fea604145f48ddf459379e78666d194">leaf_count_</a>);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      binary_tree_out_arg.reserve (this-&gt;<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a916dc0e91da6e69cea660dc6888659a9">branch_count_</a>);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160; </div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6cf255789af15b3766c7e5f327bcbb43">serializeTreeRecursive</a> (<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a7ced5d5b658d5c86f3507a35aef47177">root_node_</a>, new_key, &amp;binary_tree_out_arg, &amp;leaf_container_vector_arg, do_XOR_encoding_arg, <span class="keyword">false</span>);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160; </div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="comment">// serializeTreeRecursive cleans-up unused octree nodes in previous octree</span></div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      tree_dirty_flag_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;    }</div>
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<a id="a6cf255789af15b3766c7e5f327bcbb43"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6cf255789af15b3766c7e5f327bcbb43">&#9670;&nbsp;</a></span>serializeTreeRecursive()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::serializeTreeRecursive </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> *&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_key.html">OctreeKey</a> &amp;&#160;</td>
          <td class="paramname"><em>key_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">std::vector&lt; char &gt; *&#160;</td>
          <td class="paramname"><em>binary_tree_out_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">typename std::vector&lt; LeafContainerT * &gt; *&#160;</td>
          <td class="paramname"><em>leaf_container_vector_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>do_XOR_encoding_arg</em> = <code>false</code>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>new_leafs_filter_arg</em> = <code>false</code>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Recursively explore the octree and output binary octree description together with a vector of leaf node DataT content. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>current branch node </td></tr>
    <tr><td class="paramname">key_arg</td><td>reference to an octree key </td></tr>
    <tr><td class="paramname">binary_tree_out_arg</td><td>binary output vector </td></tr>
    <tr><td class="paramname">leaf_container_vector_arg</td><td>vector to return pointers to all leaf container in the tree. </td></tr>
    <tr><td class="paramname">do_XOR_encoding_arg</td><td>select if binary tree structure should be generated based on current octree (false) of based on a XOR comparison between current and previous octree </td></tr>
    <tr><td class="paramname">new_leafs_filter_arg</td><td>execute callback only for leaf nodes that did not exist in preceding buffer </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;    {</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;      <span class="comment">// child iterator</span></div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160; </div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;      <span class="comment">// bit pattern</span></div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;      <span class="keywordtype">char</span> branch_bit_pattern_curr_buffer;</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160;      <span class="keywordtype">char</span> branch_bit_pattern_prev_buffer;</div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;      <span class="keywordtype">char</span> node_XOR_bit_pattern;</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160; </div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160;      <span class="comment">// occupancy bit patterns of branch node  (current and previous octree buffer)</span></div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;      branch_bit_pattern_curr_buffer = <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a192cf5ae63df971b4c0c8059db79053f">getBranchBitPattern</a> (*branch_arg, <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>);</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;      branch_bit_pattern_prev_buffer = <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a192cf5ae63df971b4c0c8059db79053f">getBranchBitPattern</a> (*branch_arg, !<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>);</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160; </div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;      <span class="comment">// XOR of current and previous occupancy bit patterns</span></div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;      node_XOR_bit_pattern = branch_bit_pattern_curr_buffer ^ branch_bit_pattern_prev_buffer;</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160; </div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;      <span class="keywordflow">if</span> (binary_tree_out_arg)</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160;      {</div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;        <span class="keywordflow">if</span> (do_XOR_encoding_arg)</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;        {</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;          <span class="comment">// write XOR bit pattern to output vector</span></div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160;          binary_tree_out_arg-&gt;push_back (node_XOR_bit_pattern);</div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;        }</div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;        {</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;          <span class="comment">// write bit pattern of current buffer to output vector</span></div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160;          binary_tree_out_arg-&gt;push_back (branch_bit_pattern_curr_buffer);</div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;        }</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;      }</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160; </div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;      <span class="comment">// iterate over all children</span></div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;      <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;      {</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;        <span class="keywordflow">if</span> (branch_arg-&gt;hasChild(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx))</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160;        {</div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;          <span class="comment">// add current branch voxel to key</span></div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;          key_arg.pushBranch(child_idx);</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;          </div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;          OctreeNode *child_node = branch_arg-&gt;getChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>,child_idx);</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;          </div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;          <span class="keywordflow">switch</span> (child_node-&gt;getNodeType ())</div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;          {</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;            <span class="keywordflow">case</span> BRANCH_NODE:</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;            {</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;                <span class="comment">// recursively proceed with indexed child branch</span></div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160;                <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6cf255789af15b3766c7e5f327bcbb43">serializeTreeRecursive</a> (<span class="keyword">static_cast&lt;</span>BranchNode*<span class="keyword">&gt;</span> (child_node), key_arg, binary_tree_out_arg,</div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;                                        leaf_container_vector_arg, do_XOR_encoding_arg, new_leafs_filter_arg);</div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;                <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;            }</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;            <span class="keywordflow">case</span> LEAF_NODE:</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;            {</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;              LeafNode* child_leaf = <span class="keyword">static_cast&lt;</span>LeafNode*<span class="keyword">&gt;</span> (child_node);</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160; </div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;              <span class="keywordflow">if</span> (new_leafs_filter_arg)</div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;                {</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;                  <span class="keywordflow">if</span> (!branch_arg-&gt;hasChild (!<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx))</div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;                  {</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;                    <span class="keywordflow">if</span> (leaf_container_vector_arg)</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;                      leaf_container_vector_arg-&gt;push_back(child_leaf-&gt;getContainerPtr());</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160; </div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;                    <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#acf3bb65952c8c4e11bb51bbf05d0aab7">serializeTreeCallback</a> (**child_leaf, key_arg);</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;                  }</div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;              } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;              {</div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160; </div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;                <span class="keywordflow">if</span> (leaf_container_vector_arg)</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;                  leaf_container_vector_arg-&gt;push_back(child_leaf-&gt;getContainerPtr());</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160; </div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;                <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#acf3bb65952c8c4e11bb51bbf05d0aab7">serializeTreeCallback</a> (**child_leaf, key_arg);</div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;              }</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160; </div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;            }</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;            <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160;          }</div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160; </div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;          <span class="comment">// pop current branch voxel from key</span></div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160;          key_arg.popBranch();</div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160;        }</div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;        <span class="keywordflow">else</span> <span class="keywordflow">if</span> (branch_arg-&gt;hasChild (!<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx))</div>
<div class="line"><a name="l00617"></a><span class="lineno">  617</span>&#160;        {</div>
<div class="line"><a name="l00618"></a><span class="lineno">  618</span>&#160;          <span class="comment">// delete branch, free memory</span></div>
<div class="line"><a name="l00619"></a><span class="lineno">  619</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a75e6f417bc4e56b3741e03b83e431125">deleteBranchChild</a> (*branch_arg, !<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx);</div>
<div class="line"><a name="l00620"></a><span class="lineno">  620</span>&#160; </div>
<div class="line"><a name="l00621"></a><span class="lineno">  621</span>&#160;        }</div>
<div class="line"><a name="l00622"></a><span class="lineno">  622</span>&#160; </div>
<div class="line"><a name="l00623"></a><span class="lineno">  623</span>&#160;      }</div>
<div class="line"><a name="l00624"></a><span class="lineno">  624</span>&#160;    }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_acf3bb65952c8c4e11bb51bbf05d0aab7"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#acf3bb65952c8c4e11bb51bbf05d0aab7">pcl::octree::Octree2BufBase::serializeTreeCallback</a></div><div class="ttdeci">virtual void serializeTreeCallback(LeafContainerT &amp;, const OctreeKey &amp;)</div><div class="ttdoc">Callback executed for every leaf node data during serialization</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:830</div></div>
</div><!-- fragment -->
</div>
</div>
<a id="a8b93eff3d55ff668772dbeee7f273351"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8b93eff3d55ff668772dbeee7f273351">&#9670;&nbsp;</a></span>setBranchChildPtr()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::setBranchChildPtr </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> &amp;&#160;</td>
          <td class="paramname"><em>branch_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype">unsigned char&#160;</td>
          <td class="paramname"><em>child_idx_arg</em>, </td>
        </tr>
        <tr>
          <td class="paramkey"></td>
          <td></td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_octree_node.html">OctreeNode</a> *&#160;</td>
          <td class="paramname"><em>new_child_arg</em>&#160;</td>
        </tr>
        <tr>
          <td></td>
          <td>)</td>
          <td></td><td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Assign new child node to branch </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>reference to octree branch class </td></tr>
    <tr><td class="paramname">child_idx_arg</td><td>index to child node </td></tr>
    <tr><td class="paramname">new_child_arg</td><td>pointer to new child node </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;        {</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160;          branch_arg.setChildPtr (<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx_arg, new_child_arg);</div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;        }</div>
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<a id="a70b703457f743d2cac00e30663c27bb1"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a70b703457f743d2cac00e30663c27bb1">&#9670;&nbsp;</a></span>setMaxVoxelIndex()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::setMaxVoxelIndex </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>max_voxel_index_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Set the maximum amount of voxels per dimension. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">max_voxel_index_arg</td><td>maximum amount of voxels per dimension </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> treeDepth;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160; </div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;      assert (max_voxel_index_arg &gt; 0);</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      <span class="comment">// tree depth == amount of bits of maxVoxels</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;      treeDepth = std::max ((std::min (<span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (OctreeKey::maxDepth),</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;                                       <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (std::ceil (<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a0ad52b712883298d7cb687692c8eb4ac">Log2</a> (max_voxel_index_arg))))),</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;                                       <span class="keyword">static_cast&lt;</span><span class="keywordtype">unsigned</span> <span class="keywordtype">int</span><span class="keyword">&gt;</span> (0));</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;      <span class="comment">// define depthMask_ by setting a single bit to 1 at bit position == tree depth</span></div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2cbfd23291f419d2bcdea61af33f4f5d">depth_mask_</a> = (1 &lt;&lt; (treeDepth - 1));</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;    }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a0ad52b712883298d7cb687692c8eb4ac"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a0ad52b712883298d7cb687692c8eb4ac">pcl::octree::Octree2BufBase::Log2</a></div><div class="ttdeci">double Log2(double n_arg)</div><div class="ttdoc">Helper function to calculate the binary logarithm</div><div class="ttdef"><b>Definition:</b> octree2buf_base.h:856</div></div>
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</div>
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<a id="aaca1aaba9d9413ecf37f66616ebf5ca2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aaca1aaba9d9413ecf37f66616ebf5ca2">&#9670;&nbsp;</a></span>setTreeDepth()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::setTreeDepth </td>
          <td>(</td>
          <td class="paramtype">unsigned int&#160;</td>
          <td class="paramname"><em>depth_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
</div><div class="memdoc">

<p>Set the maximum depth of the octree. </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">depth_arg</td><td>maximum depth of octree </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;    {</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;      assert (depth_arg &gt; 0);</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160; </div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;      <span class="comment">// set octree depth</span></div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#ae1c0c62c342048d64505d61940b1a4df">octree_depth_</a> = depth_arg;</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;      <span class="comment">// define depthMask_ by setting a single bit to 1 at bit position == tree depth</span></div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a2cbfd23291f419d2bcdea61af33f4f5d">depth_mask_</a> = (1 &lt;&lt; (depth_arg - 1));</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160; </div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;      <span class="comment">// define max. keys</span></div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;      <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a1cdf089fb6ce268a539915026baa10c0">max_key_</a>.x = <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a1cdf089fb6ce268a539915026baa10c0">max_key_</a>.y = <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a1cdf089fb6ce268a539915026baa10c0">max_key_</a>.z = (1 &lt;&lt; depth_arg) - 1;</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;    }</div>
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<h2 class="memtitle"><span class="permalink"><a href="#a4b13e62a99ccbae80249f3202bdcf19e">&#9670;&nbsp;</a></span>treeCleanUpRecursive()</h2>

<div class="memitem">
<div class="memproto">
<div class="memtemplate">
template&lt;typename LeafContainerT , typename BranchContainerT &gt; </div>
<table class="mlabels">
  <tr>
  <td class="mlabels-left">
      <table class="memname">
        <tr>
          <td class="memname">void <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::treeCleanUpRecursive </td>
          <td>(</td>
          <td class="paramtype"><a class="el" href="classpcl_1_1octree_1_1_buffered_branch_node.html">BranchNode</a> *&#160;</td>
          <td class="paramname"><em>branch_arg</em></td><td>)</td>
          <td></td>
        </tr>
      </table>
  </td>
  <td class="mlabels-right">
<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
  </tr>
</table>
</div><div class="memdoc">

<p>Recursively explore the octree and remove unused branch and leaf nodes </p>
<dl class="params"><dt>参数</dt><dd>
  <table class="params">
    <tr><td class="paramname">branch_arg</td><td>current branch node </td></tr>
  </table>
  </dd>
</dl>
<div class="fragment"><div class="line"><a name="l00791"></a><span class="lineno">  791</span>&#160;    {</div>
<div class="line"><a name="l00792"></a><span class="lineno">  792</span>&#160;      <span class="comment">// child iterator</span></div>
<div class="line"><a name="l00793"></a><span class="lineno">  793</span>&#160;      <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> child_idx;</div>
<div class="line"><a name="l00794"></a><span class="lineno">  794</span>&#160; </div>
<div class="line"><a name="l00795"></a><span class="lineno">  795</span>&#160;      <span class="comment">// bit pattern</span></div>
<div class="line"><a name="l00796"></a><span class="lineno">  796</span>&#160;      <span class="keywordtype">char</span> occupied_children_bit_pattern_prev_buffer;</div>
<div class="line"><a name="l00797"></a><span class="lineno">  797</span>&#160;      <span class="keywordtype">char</span> node_XOR_bit_pattern;</div>
<div class="line"><a name="l00798"></a><span class="lineno">  798</span>&#160;      <span class="keywordtype">char</span> unused_branches_bit_pattern;</div>
<div class="line"><a name="l00799"></a><span class="lineno">  799</span>&#160; </div>
<div class="line"><a name="l00800"></a><span class="lineno">  800</span>&#160;      <span class="comment">// occupancy bit pattern of branch node  (previous octree buffer)</span></div>
<div class="line"><a name="l00801"></a><span class="lineno">  801</span>&#160;      occupied_children_bit_pattern_prev_buffer = <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a192cf5ae63df971b4c0c8059db79053f">getBranchBitPattern</a> (*branch_arg, !<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>);</div>
<div class="line"><a name="l00802"></a><span class="lineno">  802</span>&#160; </div>
<div class="line"><a name="l00803"></a><span class="lineno">  803</span>&#160;      <span class="comment">// XOR of current and previous occupancy bit patterns</span></div>
<div class="line"><a name="l00804"></a><span class="lineno">  804</span>&#160;      node_XOR_bit_pattern = <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a6929660951a1e75301f128ec387b3534">getBranchXORBitPattern</a> (*branch_arg);</div>
<div class="line"><a name="l00805"></a><span class="lineno">  805</span>&#160; </div>
<div class="line"><a name="l00806"></a><span class="lineno">  806</span>&#160;      <span class="comment">// bit pattern indicating unused octree nodes in previous branch</span></div>
<div class="line"><a name="l00807"></a><span class="lineno">  807</span>&#160;      unused_branches_bit_pattern = node_XOR_bit_pattern &amp; occupied_children_bit_pattern_prev_buffer;</div>
<div class="line"><a name="l00808"></a><span class="lineno">  808</span>&#160; </div>
<div class="line"><a name="l00809"></a><span class="lineno">  809</span>&#160;      <span class="comment">// iterate over all children</span></div>
<div class="line"><a name="l00810"></a><span class="lineno">  810</span>&#160;      <span class="keywordflow">for</span> (child_idx = 0; child_idx &lt; 8; child_idx++)</div>
<div class="line"><a name="l00811"></a><span class="lineno">  811</span>&#160;      {</div>
<div class="line"><a name="l00812"></a><span class="lineno">  812</span>&#160;        <span class="keywordflow">if</span> (branch_arg-&gt;hasChild(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx))</div>
<div class="line"><a name="l00813"></a><span class="lineno">  813</span>&#160;        {</div>
<div class="line"><a name="l00814"></a><span class="lineno">  814</span>&#160;          OctreeNode *child_node = branch_arg-&gt;getChildPtr(<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>,child_idx);</div>
<div class="line"><a name="l00815"></a><span class="lineno">  815</span>&#160;          </div>
<div class="line"><a name="l00816"></a><span class="lineno">  816</span>&#160;          <span class="keywordflow">switch</span> (child_node-&gt;getNodeType ())</div>
<div class="line"><a name="l00817"></a><span class="lineno">  817</span>&#160;          {</div>
<div class="line"><a name="l00818"></a><span class="lineno">  818</span>&#160;            <span class="keywordflow">case</span> BRANCH_NODE:</div>
<div class="line"><a name="l00819"></a><span class="lineno">  819</span>&#160;            {</div>
<div class="line"><a name="l00820"></a><span class="lineno">  820</span>&#160;              <span class="comment">// recursively proceed with indexed child branch</span></div>
<div class="line"><a name="l00821"></a><span class="lineno">  821</span>&#160;              <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4b13e62a99ccbae80249f3202bdcf19e">treeCleanUpRecursive</a> (<span class="keyword">static_cast&lt;</span>BranchNode*<span class="keyword">&gt;</span> (child_node));</div>
<div class="line"><a name="l00822"></a><span class="lineno">  822</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00823"></a><span class="lineno">  823</span>&#160;            }</div>
<div class="line"><a name="l00824"></a><span class="lineno">  824</span>&#160;            <span class="keywordflow">case</span> LEAF_NODE:</div>
<div class="line"><a name="l00825"></a><span class="lineno">  825</span>&#160;              <span class="comment">// leaf level - nothing to do..</span></div>
<div class="line"><a name="l00826"></a><span class="lineno">  826</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00827"></a><span class="lineno">  827</span>&#160;            <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00828"></a><span class="lineno">  828</span>&#160;              <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00829"></a><span class="lineno">  829</span>&#160;          }</div>
<div class="line"><a name="l00830"></a><span class="lineno">  830</span>&#160;        }</div>
<div class="line"><a name="l00831"></a><span class="lineno">  831</span>&#160; </div>
<div class="line"><a name="l00832"></a><span class="lineno">  832</span>&#160;          <span class="comment">// check for unused branches in previous buffer</span></div>
<div class="line"><a name="l00833"></a><span class="lineno">  833</span>&#160;        <span class="keywordflow">if</span> (unused_branches_bit_pattern &amp; (1 &lt;&lt; child_idx))</div>
<div class="line"><a name="l00834"></a><span class="lineno">  834</span>&#160;        {</div>
<div class="line"><a name="l00835"></a><span class="lineno">  835</span>&#160;          <span class="comment">// delete branch, free memory</span></div>
<div class="line"><a name="l00836"></a><span class="lineno">  836</span>&#160;          <a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a75e6f417bc4e56b3741e03b83e431125">deleteBranchChild</a> (*branch_arg, !<a class="code" href="classpcl_1_1octree_1_1_octree2_buf_base.html#a5c9cff0f907e60924afedfb4f38a1876">buffer_selector_</a>, child_idx);</div>
<div class="line"><a name="l00837"></a><span class="lineno">  837</span>&#160;        }  </div>
<div class="line"><a name="l00838"></a><span class="lineno">  838</span>&#160;      }</div>
<div class="line"><a name="l00839"></a><span class="lineno">  839</span>&#160;    }</div>
<div class="ttc" id="aclasspcl_1_1octree_1_1_octree2_buf_base_html_a4b13e62a99ccbae80249f3202bdcf19e"><div class="ttname"><a href="classpcl_1_1octree_1_1_octree2_buf_base.html#a4b13e62a99ccbae80249f3202bdcf19e">pcl::octree::Octree2BufBase::treeCleanUpRecursive</a></div><div class="ttdeci">void treeCleanUpRecursive(BranchNode *branch_arg)</div><div class="ttdoc">Recursively explore the octree and remove unused branch and leaf nodes</div><div class="ttdef"><b>Definition:</b> octree2buf_base.hpp:790</div></div>
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<h2 class="groupheader">类成员变量说明</h2>
<a id="a9b5f10ed867f8f662933e6615a698649"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9b5f10ed867f8f662933e6615a698649">&#9670;&nbsp;</a></span>dynamic_depth_enabled_</h2>

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<div class="memtemplate">
template&lt;typename LeafContainerT  = int, typename BranchContainerT  = OctreeContainerEmpty&gt; </div>
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          <td class="memname">bool <a class="el" href="classpcl_1_1octree_1_1_octree2_buf_base.html">pcl::octree::Octree2BufBase</a>&lt; LeafContainerT, BranchContainerT &gt;::dynamic_depth_enabled_</td>
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<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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<p>Enable dynamic_depth </p>
<dl class="section note"><dt>注解</dt><dd>Note that this parameter is ignored in octree2buf! </dd></dl>

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<hr/>该类的文档由以下文件生成:<ul>
<li>octree/include/pcl/octree/<a class="el" href="octree2buf__base_8h_source.html">octree2buf_base.h</a></li>
<li>octree/include/pcl/octree/impl/<a class="el" href="octree2buf__base_8hpp_source.html">octree2buf_base.hpp</a></li>
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